计入多个闭链影响的四自由度机器人动力学优化  

Dynamics optimization of 4-DOF robot considering the influence of multiple closed-chain

作　　者：马树全[1] 卢剑伟[1] 燕培磊[1] 陆由斌 

机构地区：[1]合肥工业大学汽车与交通工程学院,安徽合肥230009 [2]合肥泰禾光电科技股份有限公司,安徽合肥230088

出　　处：《合肥工业大学学报（自然科学版）》2017年第6期731-735,共5页Journal of Hefei University of Technology：Natural Science

基　　金：教育部新世纪优秀人才支持计划资助项目(NCET-10-0358)

摘　　要：文章以动力学性能指标为优化目标,对含多个局部闭链的四自由度码垛机器人结构设计中的尺寸参数优化设计方法进行了讨论;充分考虑多个局部闭链间的相互影响,建立了码垛机器人的刚体动力学模型,对模型的计算精度进行了验证分析;在此基础上,针对机器人典型的运动轨迹下的动力学性能优化设计方法进行了探讨,以机器人各驱动关节的峰值扭矩和机器人总能耗最小为动力学优化目标;优化过程中,计入杆件质量和质心位置的影响,并利用平方和加权法将多目标优化问题转变为单目标优化问题。算例结果表明,优化后各项动力学性能指标得到明显改善,腰部、大臂和小臂的驱动峰值扭矩降幅分别为8.35%、16.23%和10.45%,机器人总能耗降幅为9.78%,验证了该优化方法的有效性。Taking the dynamics performance index as the optimization objective, an optimal design method for structural parameters of 4-DOF palletizing robot with multiple local closed-chain was discussed. Considering the interaction of multiple local closed chains, a rigid body dynamics model of palletizing robot was established, and the calculation precision of the model was verified. On this ba- sis, the optimization of dynamics performance of robot exposed to typical motion trajectory was dis- cussed. The peak torque of each driving joint and the total energy consumption of the robot were em- ployed as the optimization goal. In the optimization process, the influence of mass and centroid posi- tion of the links was considered, and the multi-objective optimization was converted to single-objective optimization by using the square sum weighted method. The results showed that the dynamics performance index was improved obviously after optimization. The peak torques of the waist, upper arm and lower arm were reduced by 8.35%, 16.23% and 10.45% respectively, and the total energy con- sumption was reduced by 9.78%, which verify the effectiveness of the presented method.

关 键 词：码垛机器人 局部闭链 轨迹规划 动力学分析 多目标优化 

分 类 号：TH122[机械工程—机械设计及理论] TH242.2