面向目标空间高灵活性的协作机器人尺寸优化  

Size Optimization of Cooperative Robots for High Flexibility in Target Space

作　　者：李媛媛 刘相权[1] 马飞 Li Yuanyuan;Liu Xiangquan;Ma Fei(Mechanical Electrical Engineering School,Beijing Information Science and Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学机电工程学院,北京100192

出　　处：《机械传动》2022年第9期84-91,共8页Journal of Mechanical Transmission

基　　金：北京市科技计划课题(Z191100001419009);北京信息科技大学2021年教改立项项目(2021JGZD01)。

摘　　要：为提高协作机器人在目标空间内避开实时障碍物的灵活性,提出了一种综合性优化指标并对其关键杆件进行尺寸优化。首先,对优化的协作机器人进行运动学分析,建立数学模型,求解可达工作空间;然后,以拿取任务路径为参考,选取目标空间,定义灵活性综合评价指标为优化目标,运用粒子群算法对关键尺寸参数进行优化设计;对比了优化前后机器人灵活工作点在任务空间内的分布。结果表明,优化后的机器人灵活工作点占比明显增大,验证了该优化设计方法的有效性。In order to improve the flexibility of cooperative robots to avoid real-time obstacles in targetspace,a comprehensive optimization index is proposed,and the size of its key members is optimized. Firstly,the kinematics of the optimized cooperative robot is analyzed,the mathematical model is established,and thereachable workspace is solved;then the target space is selected with the robot’s task path as the reference,theflexibility comprehensive evaluation index is defined as the optimization goal,and the particle swarm algorithmis used to optimize the key size parameters;finally,the distribution of flexible working points in the task spacebefore and after optimization is compared. The results show the proportion of flexible working points of the opti-mized robot increases significantly,which verifies the effectiveness of the optimized design method.

关 键 词：协作机器人 灵活性 尺寸优化 粒子群算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]