考虑多源混合不确定性的并联机器人降敏设计

陶明哲,徐敬华,张树有,谭建荣

Desensitization design for parallel robots under multi-source hybrid uncertainty

Mingzhe TAO,Jinghua XU,Shuyou ZHANG,Jianrong TAN

表 1 多靶分域优化后的并联机器人候选尺寸

Tab.1 Candidate dimension for parallel robot after multi-objective sub-regional optimization

候选解 设计变量/cm 适应度 $ {r}_{{\mathrm{c}}} $ $ {r}_{{\mathrm{a}}} $ $ {l}_{{\mathrm{c}}} $ $ {l}_{{\mathrm{a}}} $ $\left| {{\mathrm{\Delta }{{\boldsymbol Z}}}} \right|/{\mathrm{mm}}$ $ k $ $ {F}_{\max} $ $ {D}_{\max} $ 1 105 55 115 158.71 0.1628 1.32 1.09×10−4 1.60×104 2 96.17 59.91 115.02 159.90 0.1658 1.10 1.01×10−4 1.20×104 3 104.99 55 115 148.13 0.1627 1.40 1.07×10−4 1.84×104 4 104.97 55 115 158.71 0.1628 1.32 1.09×10−4 1.60×104 5(选用解) 86.83 56.85 115.43 156.99 0.1668 1.0751 9.63×10−5 1.20×104