冗余铺丝机器人运动灵活性能综合评价与优化

imed at the problem of kinematics optimization of redundant fiber placement robot with a specific task space and based on the analysis of flexibility indexes of various industry robots proposed by scholars at home, and abroad, a method is presented for assessing robot flexibility in task space. The mathematical model is constructed to reflect multiple performance indexs of multi-objective optimization problem. A kind of multi-objective optimization algorithm is introduced to solve the Pareto optimal solution set. The optimal solution set of the mathematical analysis shows that there are different degrees of correlation between different performance indicators. Simulation results show that the optimal model and algorithm allow the robot to achieve a balanced optimization of multiple performance indicators. The fiber placement robotic can get optimal flexibility area in task space by using the new practical ideas and methods.