Comprehensive Optimization Design Of Manipulators Based On Various Manipulation Indices

This thesis regards multi-joint serial manipulator as the object of study, and operating a series of performance aimed at its kinematics, optimization of process of the machine.First establish the kinematics model of serial manipulator by the use of D-H parameters, then derive to its kinematical recursive equations discuss the forward kinematics problem, inverse kinematics problems and operational indicators. On this basis, considering the variety of indicators, established an object function based on workable index.Secondly, on the basis of analysising manipulator kinematics and the study of its operability, the thesis discussed several different optimization techniques, analyzed the advantages and disadvantages of each technology. Combined with the object of this study, the thesis selected FMINCON function as the main tool of optimal design. Besides, the thesis also made brief introduction of several manipulators involved in the experiment, analyzed the structure of each manipulator, and listed their DH parameters, established DH expression according to the parameters.Again, base on the solving of manipulator inverse kinematics problems, made use of the objective function established on the operation index, combined with the specific constraints of the model, set up the design of the length of each manipulator linkage and the angle of each joint. Calculated and simulated using MATLAB, got the appropriate manipulator linkage length and precise joint angle of each group and their corresponding operational index. The simulation results show that while guarantee the accuracy of manipulator movement, the method avoided emergence of singular form, and there isn't any freedom lost in the course of the campaign.Finally, made a summary of the whole-length, pointed out the work which had been done in the thesis and the aspects that hadn't been related to, and put forward some suggestions for the future research.