基于多目标均衡优化的2PRU&1PRS-XY型混联机器人尺度设计方法

面向复杂结构件机器人加工装备设计需求，提出一种2PRU&1PRS-XY型混联机器人。为将该混联机器人应用于高性能机械加工任务，在其工作空间、运动/力传递性以及灵巧度分析的基础上，定义了用于工作全域性能评价的传递稳定性指标与精度差异性指标，提出了一种基于多目标均衡优化思想的尺度设计方法。该方法采用标准化方法简化多参数设计空间，应用响应面法与主成分分析法提高优化求解效率，结合主客观组合赋权法与基于TOPSIS的Pareto前沿法实现多指标综合性能评分。运用所提方法，得到了4种兼顾优化求解效率和多目标均衡优化的尺度参数设计方案，实现了2PRU&1PRS-XY型混联机器人主要尺度参数的优化设计，为设计者提供了具有不同工程设计倾向的多目标均衡决策参考。

Dimensional Design of 2PRU&1PRS-XY Hybrid Robot Based on Multi-objective Equilibrium Optimization

A 2PRU&1PRS-XY hybrid robot was proposed for the design requirements of robotic machining equipment for complex structural components. In order to apply the new hybrid robot to high-performance 5-axis machining, it is necessary to realize the dimensional design that takes into account the balanced optimization of multi kinematics performance. Therefore, in addition to analyzing the working space, motion/force transmission and dexterity indicators of hybrid robot, the difference index of transfer stability and accuracy was also proposed, and a scale design method based on the idea of multi-objective equilibrium optimization was designed. This method adopted standardized method to simplify the multi-parameter design space, applied response surface methodology to improve the efficiency of solving complex functional functions, and the optimization solution efficiency was improved by the principal component analysis method. Combined with subjective and objective combinatorial empowerment method and TOPSIS-based Pareto frontier method, multi-index comprehensive performance scoring was carried out. Using the proposed method, four dimensional parameter design schemes were obtained that balanced optimization efficiency and multi-objective equilibrium optimization. The optimization design of the main dimensional parameters of the hybrid robot was achieved, providing designers with multi-objective equilibrium decision-making references with different engineering design preferences.