基于随机方向法的3P3R型码垛机器人桁架结构优化设计  

Optimum Design of the Truss Structure of 3P3R Palletizing Robot Based on Random Direction Method

作　　者：董小康[1] 钱东海[1] 邢亚蒙 Dong Xiaokang;Qian Donghai;Xing Yameng

机构地区：[1]上海大学精密机械工程系,上海200072

出　　处：《计量与测试技术》2018年第1期15-19,24,共6页Metrology & Measurement Technique

摘　　要：简要介绍了3P3R型码垛机器人的结构形式及其特点,并说明了桁架所采用的结构形式。在考虑桁架强度、挠度约束的基础上,对桁架轻量化优化设计中所碰到的振动问题进行研究,对桁架进行结构动力学建模,分析其各阶固有频率,并将其基频作为约束条件,建立了桁架轻量化优化设计模型。其后结合优化模型的特点,选择随机方向搜索法进行优化设计问题求解,文中给出了完整的求解算法步骤,并给出了优化求解的结果,大幅度地减轻了桁架部件的自重,提高了码垛机器人的工作效率,并降低了能耗。This paper briefly introduces the structure and characteristics of the 3P3R palletizing robot,and explains the forrm of the truss structure.Apart from the consideration of truss strength and deflection constraints,this paper studies the vibration problem in the light-weight optimization design of truss structure.The dynamics model of the truss structural is set up and the natural frequencies of the truss structure is also analysed.The fundamental fre-quency is used as a constraint to the light-weight optimization design model of the truss structure.Then,based on the characteristics of the optimization model,the random direction search method is used to solve the problem.Then,based on the characteristics of the optimization model,the optimal design method is selected as the random direction search method.In the paper,the complete steps of the algorithm and the results of the optimization are given.As we can see from the results,the weight of the truss strjicture is reduced greatly,the working efficiency of the robot is improved and the energy consumption is reduced.

关 键 词：3P3R型码垛机器人 桁架结构 随机方向法 结构优化 

分 类 号：P24[天文地球—测绘科学与技术]