基于重力势能的模块化机械臂构型设计  

Configuration design of modular manipulator based on gravitational potential energy

作　　者：赵聪慧 赵长海[1] 朱明超[1] ZHAO Cong-hui;ZHAO Chang-hai;ZHU Ming-chao(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;College of Materials Science and Opto-Electronic Technology,University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院大学材料科学与光电技术学院,北京100049

出　　处：《机电工程》2020年第10期1215-1219,1230,共6页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51605465);吉林省科技发展计划资助项目(20180201020GX)。

摘　　要：针对模块化机械臂面向任务进行构型设计时,自重过大会降低机械臂输出精度的问题,提出了一种基于重力势能的多目标构型设计方法。首先,介绍了机械臂的模块库,包括模块库中模块的种类划分和模块的数学表达方式;其次,对构型的优化设计标准进行了说明,对重力势能作为优化目标的合理性和可行性进行了分析,介绍了可操作度和任务点处所需克服重力作为评价标准的函数表达;最后,结合机械臂的约束条件,选用遗传算法对机械臂构型进行了优化设计,并通过喷涂机械臂设计实例证明了设计方法的可行性。研究结果表明:该方法设计得到的喷涂机械臂能够在保证灵活性的同时拥有更小的自重,减少了机械臂自重对输出精度的影响;该方法可为模块化机械臂构型设计提供理论依据。Aiming at the problem of reducing the output accuracy of the manipulator when the dead-weight was too large when it was task-oriented,a multi-objective configuration design method based on gravity potential energy was proposed.Firstly,the module library of the manipulator was introduced,including the classification of the modules in the library and the mathematical expression of the modules.Secondly,the optimization desiyn standed of configuration was explained,the rationality and feasibility of the potential energy of gravity as the optimization objective were analyzed,and the functional expression of the operability and the need to overcome the evaluation standard of gravity at the task point were introduced.Finally,combined with the constraint conditions of the manipulator,genetic algorithm was selected to optimize the configuration of the manipulator.The feasibility of the design method was proved by an example of the spray manipulator configuration design.The results indicate that the spray arm designed by this method can ensure the flexibility and have less dead-weight,reduces the influence of the dead-weight of the arm on the output accuracy,and it provides a theoretical basis for the modular arm configuration design.

关 键 词：可重构机械臂 模块分类 构型设计 评价函数 遗传算法 

分 类 号：TH122[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]