【摘要】 绳驱并联机器人是一类利用多根绳索或电缆来驱动和控制末端执行器运动的并联机器人，如何在满足其绳索的单向受力性和力可行工作空间范围等约束下，对绳驱并联机器人进行合理的规划是一项难题。鉴于此，提出了一种基于合作博弈遗传算法(genetic algorithm, GA)的绳驱并联机器人多目标轨迹规划方法，在建立绳驱并联机器人运动学和动力学模型的基础上，构建了多目标轨迹优化模型，利用GA对合作博弈中各目标玩家的策略空间进行搜索，并通过Nash协商解在博弈中的策略空间内寻找一个使得整体效用最小化的策略组合。实验结果表明，所提多目标轨迹规划方法同时满足了机器人轨迹运动中的物理约束和空间约束，降低了能耗和冲击对绳驱并联机器人的影响，提升了轨迹的平滑度，为绳驱并联机器人的高效稳定运行提供了可靠的轨迹规划方法。更多还原

【Abstract】 A rope-driven parallel robot is a type of parallel robot which uses multiple ropes or cables to drive and control the movement of the end effector. How to reasonably plan the rope-driven parallel robot under the constraints of the unidirectional force of the rope and the range of the force-feasible workspace is a difficult problem. In view of this, a multi-objective trajectory planning method for a rope-driven parallel robot based on a cooperative game GA(genetic algorithm) was proposed. On the basis of establishing the kinematic and dynamic models of the rope-driven parallel robot, a multi-objective trajectory optimization model was constructed. GA was used to search the strategy space of each target player in the cooperative game, and a strategy combination that minimizes the overall utility was found in the strategy space of the game through the Nash negotiation solution. The experimental results show that the multi-objective trajectory planning method proposed satisfies the physical constraints and spatial constraints in the robot’s trajectory motion at the same time, reduces the influence of energy consumption and impact force on the rope-driven parallel robot, improves the smoothness of the trajectory, and provides a reliable trajectory planning method for the efficient and stable operation of the rope-driven parallel robot.更多还原