Resumen
The dimensional synthesis of multi-linkage robots has great significance for improving flexibility and efficiency. With the increase of the degree of freedom and restrictions on special occasions, the solution of dimensional synthesis becomes complicated and time-consuming. Theory of workspace density function, maneuverability, and energy expenditure had been studied. With high flexibility and low energy consumption as the design goal, the method for dimensional and joint angle synthesis of multi-linkage robots was proposed based on a niched Pareto genetic algorithm. The Pareto solution set has been obtained. The method was verified by two application examples, which is occlusion of the solar salt evaporation pool and the secondary scattering of solid 2,2'-azobis(2,4-dimethylvaleronitrile). Through the application of NPGA (niched Pareto genetic algorithm) compared with KPCA (kernel principal component analysis), it can save 12.37% time in occlusion of one evaporating pool and reduce energy consumption by 3.85%; it can save 9.96% time in scattering of remain materials per barrel and reduce energy consumption by 1.77%. The study reduces the labor intensity of manual workers in the salt making industry, ensures the safe production of dangerous chemicals, and provides new ideas and methods for the dimensional synthesis of multi-linkage robots.