面向六自由度移动机械手底座位置优化方法  

Optimization Method of Base Position for 6-DOF Mobile Manipulator

作　　者：马金茹 高文华[2] 祁宇明[3] MA Jinru;GAO Wenhua;QI Yuming(School of Automotive Engineering,Beijing Polytechnic,Beijing 100176,China;Tianjin University of Science and Technology,Tianjin 300222,China;Tianjin University of Technology and Education,Tianjin 300222,China)

机构地区：[1]北京电子科技职业学院汽车工程学院,北京100176 [2]天津科技大学,天津300222 [3]天津职业技术师范大学,天津300222

出　　处：《机床与液压》2022年第5期49-55,共7页Machine Tool & Hydraulics

基　　金：天津市科技计划项目(18ZXJMTG00160)。

摘　　要：移动机械手具有良好的机动性和灵活性,在大型复杂零件的加工中具有广阔的应用前景。为了充分利用机器人的加工能力,提出六自由度移动机械手的加工基座位置优化方法。建立机械手运动性能指标和全局刚度指标,在此基础上综合考虑了六自由度机械手关节距离、关节速度、奇异回避和避碰等多约束条件。采用稀疏均匀网格分解寻找优化模型的有效初值,通过序列二次规划(SQP)方法最终求解基座的最优位置。最后通过风机叶片的加工仿真分析和实验验证了该优化方法的有效性和性能指标的正确性。Mobile manipulator has good mobility and flexibility,and has broad application prospects in the processing of large and complex parts.In order to make full use of machining ability of robot,a machining base position optimization method of 6-DOF mobile manipulator was proposed.The kinematic performance index and global stiffness index of the manipulator were established.On this basis,multiple constraints such as joint distance,joint velocity,singularity avoidance and collision avoidance of the 6-DOF ma⁃nipulator were comprehensively considered.Sparse uniform grid decomposition was used to find the effective initial value of the optimi⁃zation model,and the optimal position of the base was finally solved by sequential quadratic programming(SQP).Finally,the effec⁃tiveness of the optimization method and the correctness of the performance index were verified by the machining simulation analysis and experiments of fan blades.

关 键 词：移动机械手 基座优化 运动性能 刚度性能 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]