一种新型并联灌注机器人运动学分析和多目标优化

针对大型航天器蜂窝结构灌注需求，提出一种新型串并混联灌注机器人机构，主要对并联机构进行分析研究。首先，对3PSS-PU并联机构进行了运动学分析，建立了运动学反解数学模型和雅可比矩阵；其次，确定了影响机构工作空间主要因素的约束条件，求解出了机构的工作空间；然后，建立了机构的刚度模型，求得机构在运动过程中的刚度变化分布；最后，利用遗传算法，以工作空间和全局刚度为目标对机构结构参数进行优化分析，确定了最终的机构尺寸参数，为蜂窝灌注机器人应用奠定基础。

Kinematics analysis and multi-objective optimization of a novel parallel perfusion robot

In order to meet the demand of honeycomb structure perfusion of large spacecraft,a novel hybrid perfusion robot is proposed.This article mainly focuses on the analysis of the parallel mechanism.First,the kinematics analysis of 3PSS-PU parallel mechanism is conducted,and the inverse kinematic model and Jacobian matrix of 3PSS-PU mechanism are established.Then,the constraints of the main factors influencing workspace of the mechanism are given,and the reachable workspace is obtained.Next,stiffness model of the mechanism is established,and stiffness distribution of the mechanism in the process of movement is displayed.Finally,aimed at workspace volume and global stiffness,multi-objective optimization analysis of structure parameters is performed based on genetic algorithm,and final dimension parameters of the mechanism are obtained.This work would lay the foundation for the application of the honeycomb perfusion robot.