可操纵性的冗余机械臂运动能耗控制研究  

Research on Energy Consumption Control of Redundant Manipulator Based on Maneuverability

作　　者：成慧翔 聂慧慧[2] 马艳娥 CHENG Hui-xiang;NIE Hui-hui;MA Yan-e(Jinzhong College of Information,Shanxi Jinzhong 030800,China;Taiyuan University of Technology,College of Mechanical Engineering,Shanxi Taiyuan 030200,China)

机构地区：[1]晋中信息学院,山西太谷030800 [2]太原理工大学,山西太原030200

出　　处：《机械设计与制造》2023年第4期300-304,共5页Machinery Design & Manufacture

基　　金：山西省教学创新改革项目—现代产业学院背景下跨学科多专业融合人才培养模式的探索与实践(J2021948)。

摘　　要：为了降低冗余机械臂末端执行器在挖掘过程中能量消耗,从而延长机械臂末端执行器工作时长。对此,这里设计了冗余机械臂能量消耗评价指标模型,并对能量消耗评价指标进行仿真验证。给出了冗余机械臂能量可操纵性椭球简图,引入机械臂能量的时间积分作为评价指标函数。对冗余机械臂末端执行器进行受力分析,推导出末端执行器表面受力求解模型,提出了能量消耗的计算程序。为了验证不同状态条件下的能量消耗,采用MATLAB软件对冗余机械臂能量评价指标、受力进行仿真。结果显示:冗余机械臂连杆长度不同,能量消耗评价指标也不同,在第一连杆和第三连杆长度相等的情况下,能量消耗评价指标较小。同时,能量可操纵椭球中心到椭球周长的距离不同,机械臂末端执行器挖掘力也不同,挖掘力随着能量可操纵椭球中心到椭球周长的距离增大而减小。采用能量评价指标模型,可以有效的验证不同条件下机械臂能量消耗和挖掘力的变化状态,从而可以提高能量利用率,为设计者提供参考依据。In order to reduce the energy consumption cfthe redundant manipulator end actuator in the process cf excavation,and thus extend the working time of the manipulator end actuator.In this paper,the energy consumption evaluation index model of redundant manipulator is designed and verified by simulation.The energy maneuverability ellipsoid diagram cf redundant manipulator is given,and the time integral of manipulator energy is introduced as the evaluation index function.Based on the analysis of the force on the end actuator of the redundant manipulator,the model of the force on the surface of the end actuator is derived,and the calculation program of the energy consumption is put forward.In order to verify the energy consumption under different conditions,MATLAB software is used to simulate the energy evaluation index and force of redundant manipulator.The results show that the evaluation indexes of energy consumption are different when the length cfthe link is different.When the length of the first link and the third link are equal,the evaluation indexes cf energy consumption are smaller.At the same time,the distance from the center of the energy controllable ellipsoid to the circumference of the ellipsoid is different,and the digging force cf the actuator at the end of the manipulator is also different.The digging force decreases with the distance from the center of the energy controllable ellipsoid to the circumference of the ellipsoid increasing.By using the energy evaluation index model,it can effectively verify the energy consumption and excavation force cf the manipulator under different conditions,so as to improve the energy utilization rate and provide reference for designers.

关 键 词：可操纵性 冗余机械臂 能量 模型 仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TH137