三自由度支链嵌套并联机器人工作单元布局优化  

Layout Optimization for the Workcell of a 3-DOF Parallel Robot With Limbs of Embedding Structures

作　　者：张雷 张建军[1] 李为民[1] 杨高炜[1] 

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《机械设计与研究》2017年第6期6-9,14,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(51175144);河北省科技计划资助项目(15211829)

摘　　要：为了提高三自由度支链嵌套并联机器人工作单元的工作效率,结合最短运动时间轨迹规划理论对其布局进行优化。首先利用最短运动时间轨迹规划理论对机器人关节进行轨迹规划;其次在满足机器人与周边设备位置约束以及避免发生碰撞的基础上,将机器人的总运动时间和耗能综合最优作为目标建立布局优化模型;最后求解得出合理的布局方案。实验结果表明,优化后机器人的总运动时间缩短了44.7%,耗能减少,提高了工作效率。In order to improve the efficiency of the workcell of a 3-DOF parallel robot with limbs of embedding structures, this paper combines a path planning theory based on the shortest motion time to optimize the layout. Firstly, a path planning theory based on the shortest motion time is used to plan the trajectory in joint-space. Secondly, the layout optimization model is established on the basis of satisfying the constraints and avoiding the collision to optimize the total time and energy consumption. Finally, a reasonable layout plan is obtained. T＂ ~ simulation results show that the total motion time is reduced by 44.7%, the energy consumption is reduced and working efficiency of the robot workcell is improved as well.

关 键 词：支链嵌套并联机器人 布局优化 轨迹规划 运动时间 耗能 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]