机械臂参数优化数学模型及参数影响分析研究  

Optimization Mathematical Model of Picking Manipulator and Parameter Influence Analysis

作　　者：王开帅 朱玉全[2] WANG Kai-shuai;ZHU Yu-quan(Jiangsu Food&Pharmaceutical Science College,Basic Teaching Department,Jiangsu Huaian 223003,China;Jiangsu University,School of Computer Science and Communication Engineering,Jiangsu Zhenjiang 212013,China)

机构地区：[1]江苏食品药品职业技术学院基础教学部,江苏淮安223003 [2]江苏大学计算机科学与通信工程学院,江苏镇江212013

出　　处：《机械设计与制造》2023年第3期277-281,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金(61702229)。

摘　　要：针对欠驱动机构运动不确定性引起的采摘机械臂滑道大幅度摆动现象导致的机构运动不稳定性的问题。提出了一种基于混合蛙跳算法改进的代理模型技术来建立滑块驱动速度、滑轨高度、滑轨倾角与滑道摆动角度峰值之间的参数优化数学模型,利用KRIGING模型建立设计参数与滑道摆动角度峰值之间的数学模型,通过混合蛙跳算法优化传统kriging模型变异函数的参数,提高其数学模型精度;基于参数优化数学模型,分析了滑块驱动速度、滑轨高度、滑轨倾角对滑道摆动角度峰值的影响。仿真结果表明:参数优化数学模型精度更高,误差更小,能为参数优化提供更加精确的数学模型;滑轨倾角、驱动速度、滑轨高度对滑道摆动角度峰值变化幅度影响程度由大到小的顺序为滑轨倾角>驱动速度>滑轨高度。交叉变化对滑道摆动角度峰值影响程度为滑轨倾角-滑轨高度>滑块驱动速度-滑轨倾角>滑块驱动速度-滑轨高度。Aiming at the problem of unstable mechanism movement caused by the phenomenon of large swing of picking arm,which is caused by the uncertainty of the underdriven mechanism.In order to optimize the parameters of the manipulator to reduce the value of the swing angle of the slide. A surrogate technology based on shuffled frog leaping algorithm(SFLA)was proposed to establish the mathematical model between the slider driving speed,slide rail height,dip angle of the slide rail and swing Angle slide value,the surrogate technology was used to stablish the mathematical model between the slider driving speed,slide rail height,dip angle of the slide rail and swing Angle slide value,the shuffled frog leaping algorithm(SFLA)was used to optimize the parameters of the variation function of the traditional kriging model to improve the mathematical model accuracy.The simulation results show that the mathematical model of parameter optimization has higher precision and smaller error,which can provide more accurate mathematical model for parameter optimization,The influence degree of slider driving speed,slide rail height,dip angle of the slide rail on swing Angle slide value is dip angle of the slide rail> slider driving speed> slide rail height,the influence degree of cross change on swing Angle slide value is dip angle of the slide rail-slide rail height> slider driving speed-dip angle of the slide rail> slider driving speed-slide rail height.

关 键 词：欠驱动机构 摆动现象 优化 KRIGING SFLA 参数分析 

分 类 号：TH16[机械工程—机械制造及自动化]