三自由度串联机械手动力学优化研究  

Study on Robust Dynamics Optimization of 3-DOF Tandem Manipulator

作　　者：刘建东[1] 陶柯[1] LIU Jiandong;TAO Ke(School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870

出　　处：《现代制造技术与装备》2017年第2期51-52,共2页Modern Manufacturing Technology and Equipment

摘　　要：提出一种基于轨迹的三自由度串联机械手动力学优化方法。在已知机械手末端轨迹和运动状态下,建立刚体动力学模型。以各关节力矩和的最大值最小为优化目标,对机械手进行动力学优化,并将优化后的机械手与原机进行对比。工程实例表明,优化后机械手的关节力矩和的最大值对比优化前降幅约为10.8512%,动力学效果得到明显改善。A method of three-degree-of-freedom tandemmechanics optimization based on trajectory is proposed. The rigid body dynamics model is established under the trajectory and motion state of the known manipulator. The optimization of the manipulator is carried out with the minimum of the joint moments and the maximum value of the joint, and the optimized manipulator is compared with the original machine. The engineering example shows that the maximum value of the joint torque and the optimization of the optimized manipulator is about 10.8512%, and the dynamic effect is improved obviously.

关 键 词：串联机械手 动力学 优化 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]