Taking the redundant 4-RRR planar parallel mechanism as the research object,the inverse kinematics model of 4-RRR planar parallel mechanism is established.Based on this,the objective function of workspace boundary optimi-zation of parallel mechanism is established,a numerical method of workspace search based on firefly algorithm is pro-posed,the boundary search of the reachable workspace and the fixed posture workspace of the 4-RRR planar parallel mechanism is realized,and the workspace graph is obtained.According to the workspace calculated by Monte Carlo method,the relationship between the size of parameters and workspace is studied.The rotation ability of 4-RRR planar parallel mechanism is analyzed by graphic method.Finally,the index of workspace area and average rotation ability is established,the NSGA-Ⅱ algorithm is selected to optimize the parameter size,multiple sets of parto optimization frontier sets are obtained,and an example is analyzed.
维普
万方数据