连杆机构式机器人的动态性能优化  

Research on Dynamic Characteristics Optimization of Linkage Robot

作　　者：蔡敢为 彭思旭[2] 田军伟 韦为 CAI Ganwei;PENG Sixu;TIAN Junwei;WEI wei(School of Construction Machinery,Hunan Sany Polytechnic College,Changsha 410129,China;College of Mechanical Engineering,Guangxi University,Nanning 530004,China;School of Artificial Intelligence and Smart Manufacturing,Hechi University,Yizhou Guangxi 546300,China)

机构地区：[1]湖南三一工业职业技术学院工程机械学院,长沙410129 [2]广西大学机械工程学院,南宁530004 [3]河池学院人工智能与制造学院,广西宜州546300

出　　处：《机械设计与研究》2022年第6期1-6,10,共7页Machine Design And Research

基　　金：国家自然科学基金(51765005);广西科技重大专项(桂科AA19254021)资助项目;广西制造系统与先进制造技术重点实验室主任课题资助项目。

摘　　要：连杆机构式机器人通过减少随机构运动的驱动电机和减速器,使机器人机构动态性能得到较大改善。但这种新型机器人机构的动态性能研究还不够充分,故主要研究了机构参数对其动态性能的影响和参数优化对机构动态性能的提高。以一种连杆机构式机器人为研究对象,在其刚体动力学和弹性动力学模型的基础上,计算其驱动力矩和固有频率,分析结构参数变化对其影响。为改善机构动力学性能,采用粒子群算法对该机器人机构进行参数优化。优化后,大臂驱动力矩峰值从1550 N·m下降到858 N·m;小臂驱动力矩峰值从328 N·m下降到206 N·m;第一阶固有频率从13.167 Hz提高到18.048 Hz。结果表明,驱动力矩峰值明显下降,第一阶固有频率明显提高,连杆机构式机器人机构的两个性能指标都得到明显改善。The linkage mechanism robot can improve its dynamic performance significantly by reducing the driving motor and reducer that move with the mechanism.However,the study on the dynamic performance of this new type of robot mechanism is lacking.This paper mainly studies the influence of the mechanism parameters on its dynamic performance and the improvement of the dynamic performance of the mechanism by parameter optimization.Taking a new controllable mechanism robot as the research object,on the basis of its rigid body dynamics model and elastic dynamics model,its driving torque and natural frequency are calculated,and the influence of structural parameters is analyzed.In order to improve the dynamic performance of the mechanism,the particle swarm algorithm is used to optimize the parameters of the robot mechanism.After optimization,the peak driving torque of the big arm decreased from 1550 N·m to 858 N·m;the peak driving torque of the forearm decreased from 328 N·m to 206 N·m;the first-order natural frequency increased from 13.167 Hz to 18.048 Hz.The results show that the peak value of the driving torque is significantly decreased,the first-order natural frequency is significantly increased,and the two performance indicators of the linkage mechanism robot are significantly improved.

关 键 词：可控机构 刚体动力学 弹性动力学 粒子群算法 优化设计 

分 类 号：TH112[机械工程—机械设计及理论]