面向自动仓储的绳索牵引并联机器人构型选择与参数优化  

Configuration Selection and Parameter Optimization of Redundantly Actuated Cable-driven Parallel Robots

作　　者：张飞 张彬 周烽[1] 尚伟伟[1] 丛爽[1] ZHANG Fei;ZHANG Bin;ZHOU Feng;SHANG Weiwei;CONG Shuang(Department of Automation,University of Science and Technology of China,Hefei 230027)

机构地区：[1]中国科学技术大学自动化系

出　　处：《机械工程学报》2020年第1期1-8,共8页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(51675501,51275500)

摘　　要：针对自动仓储领域的应用需求,研究了冗余驱动绳索牵引并联机器人的构型选择和参数优化问题。分析了自动仓储应用中冗余驱动绳索牵引并联机器人的结构特点,建立了静力学模型和力可行条件。基于动平台在需求力矩下力可行条件的分析,提出了一种最大负载优化指标。设计了完整的优化方法,并对所有构型的最大负载进行优化,最终得到了最优的构型及其动平台参数。通过仿真测试,将优化结果与其他构型以及随机选取的动平台参数进行了对比。结果表明最优构型的最大负载性能最佳,并且经过优化后,最大负载有明显提高。The configuration selection and parameter optimization of redundantly actuated cable-driven parallel robots(RA-CDRPs)for automatic warehouse systems are studied.Firstly,the configuration characteristics of the RA-CDPRs are analysed,and the static model and the wrench-feasible condition are established.Base on this condition,a new optimization criterion named maximum mass is proposed.Then,the complete optimization method is designed,and the optimal configuration and parameter are obtained.Finally,the optimization results are validated on an RA-CDPR in the simulation test.The results show that the optimal configuration and parameters have the best performance for the storage and retrieval operations in the automatic warehouse systems.

关 键 词：自动仓储 绳索牵引并联机器人 并联机器人 优化设计 

分 类 号：TG156[金属学及工艺—热处理]