张付祥 刘再 黄风山

摘 要：为保证用于圆钢端面贴标的工业机器人的设计质量，根据成捆圆钢端面贴标的工程应用场景，采用模糊综合评价法及层次分析法对尺度不确定的候选机构进行比较优选。以备选方案为基础建立模糊综合评价决策集，分析贴标工作及机构学相关知识，建立模糊综合评价因素集，比较各因素的重要性程度建立评价指标权重集，依据层次分析法对各评价指标建立模糊评判矩阵，由权重集及评判矩阵得到模糊决策集并对各方案进行排序优选，综合评价结果为RRP4RR > RRRP4RR>RRRRR。圆钢端面贴标混联机构可采用RRP4RR并联机构串接RR串联机构，所应用的模糊综合评价法可为贴标机构构型的优选提供决策依据。

关键词：工业机器人;贴标机构;模糊综合评价;层次分析法;构型优选;混联机构

中图分类号：TH112   文献标志码：A

Optimal type selection of 3T0R labeling hybrid mechanism

for the round steel end surfaces

ZHANG Fuxiang ， LIU Zai， HUANG Fengshan

（School of Mechanical Engineering， Hebei University of Science and Technology， Shijiazhuang， Hebei 050018， China）

Abstract：

To ensure industrial robot design quality of labeling mechanism， according to engineering application market of a bundle of labeling for the round steel end surfaces， the fuzzy comprehensive evaluation method and analytic hierarchy method are applied for the optimal type selection of mechanism configuration scheme whose scale is uncertain. Based on the alternatives， fuzzy comprehensive evaluation decision set is established. It analyzes the labeling work and knowledge related to the institution to establish the fuzzy comprehensive evaluation factor set. The importance of each factor is compared to establish the evaluation index weight set. According to the analytic hierarchy process， the fuzzy evaluation matrix of each evaluation index is established. The fuzzy decision-making set is obtained from the weight set and the judgment matrices， the programs are sorted and optimized.

The result is RRP4RR>RRRRR.The labelling hybrid mechanism for the round steel end surfaces adopts RRP4RR parallel mechanism in series with RR series mechanism. The selected fuzzy comprehensive evaluation method can proride reference for the decision making in labeling mechanism type selection.

Keywords：

industrial robot; labeling mechanism; fuzzy comprehensive evaluation; analytic hierarchy process; optimal type selection; hybrid mechanism

一個机构的构型是该机构能否适用于特定场合的关键因素[1]，圆钢端面贴标机构的构型方案决定其具体的结构设计方向，并进一步影响贴标机构的工作性能、可靠性及成本[2]。

对机构进行综合评价常用的方法有模糊综合评价法[3]、层次分析法[4]、主成分分析法[5]、综合指数法[6]、逼近理想解排序法[7]、灰色综合评价法[8]，以及几种方法的混合，比如模糊层次分析法[9]、层次分析-逼近理想解排序法[10]、模糊灰色综合评价法[11]等。从综合出的并联机构中优选出具有工程应用价值的构型，意义重大。21世纪初人们开始进行并联机构的对比研究，主要是对比构型相似的并联机构并从中优选适合特定操作需求的机构。如XI……