基于能耗最优的4自由度并联机器人轨迹优化  

Trajectory optimization of the 4-DOF parallel manipulator based on the energy-consumption optimization

作　　者：梅江平[1] 孙玉德[1] 贺莹 臧家炜[1] 方志炜 MEI Jiang-ping;SUN Yu-de;HE Ying;ZANG Jia-wei;FANG Zhi-wei(Key Laboratory of Mechanism Theory and Equipment Design,Ministry of Education,Tianjin University,Tianjin 300072;Department of Mechanical Engineering,Tianjin University Renai College,Tianjin 301636)

机构地区：[1]天津大学机构理论与装备设计教育部重点实验室,天津300072 [2]天津大学仁爱学院机械工程系,天津301636

出　　处：《机械设计》2018年第7期14-22,共9页Journal of Machine Design

基　　金：国家自然科学基金面上资助项目(51475320)

摘　　要：针对一种可实现SCARA运动的4自由度并联机器人(以下简称C4并联机器人),研究其以能耗最优为目标的运动轨迹优化方法。在运动学及简化刚体动力学分析的基础上,建立了该机器人的理想能耗模型。系统分析了C4并联机器人各伺服电机的输出功率与其末端动平台加速度之间的映射关系,并由此提出了一种能耗最优的评价指标,进而用于指导机器人轨迹优化。基于3-4-5次多项式运动规律,研究了机器人末端动平台在Adept Motion运动轨迹下各轨迹路径点的运动学参数(位置、速度和加速度)与其对应运行时间之间的函数关系。以能耗最优为目标,建立了C4并联机器人运动轨迹优化的数学模型,并应用MATLAB遗传算法求解出相应约束条件下各段运行时间的最优解。搭建了C4并联机器人的实验平台,并通过试验验证了该轨迹优化方法的有效性。试验结果表明该方法可有效降低各伺服电机输出转矩并提升机器人的动态性能。The method to optimize the trajectory of a 4-DOF parallel manipulator（hereinafter referred to as C4 parallel manipulator） which can realize the SCARA motion based on the energy-consumption optimization is presented in this paper. By means of the analysis of kinematics and simplified rigid body dynamics, the ideal model of energy-consumption is set up. Based on the systematical analysis of the mapping relationship of the output power of every servo motor of the C4 parallel manipulator and the acceleration of the moving platform at its terminal, the performance index of energy-consumption optimization is proposed. Based on the law of 3-4-5 polynomial motion, a study is made on the functional relationship between the kinematic parameters（location, velocity, and acceleration） of every path of the motion trajectory made by the parallel manipulator moving platform in Adept Motion and the corresponding running time. Aimed at the energy-consumption optimization, the math model of trajectory optimization of the C4 parallel manipulator is presented, and the MATLAB GA is applied to find the optimal solution of different periods of running time under the constraint conditions. The experiment platform of the C4 parallel manipulator is set up to prove the effectiveness of the method of trajectory optimization. The experimental results show that this method can effectively reduce the output torque of every servo motor and improve the dynamic performance of the parallel manipulator.

关 键 词：并联机器人 能耗最优 轨迹优化 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]