Study on Multidisciplinary Design Optimization of 3-RRS Parallel Robot

摘要

The paper aims to apply the idea of multidisciplinary design optimization to the design of robot system. The main idea of collaborative optimization is introduced. The collaborative optimization frame of 3-RRS parallel robot is analyzed. With the method of genetic algorithm and Sequential Quadratic Programming, the investigation is made on the executing collaborative optimization of working stroke, driving performance and hydraulic components. The numerical results indicate that the collaborative optimization can be successfully applied to dealing with the complex robot system, and lay a foundation to solve more complex mechanical system.