拆卸螺栓机械手运动轨迹的拟合及优化分析  

Kinematic Trajectory Fitting and Optimization Analysis of Bolt Removal Manipulator

作　　者：魏军英[1] 张嘉伟 陶国升 李璞 WEI Junying;ZHANG Jiawei;TAO guosheng;LI Pu(School of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266400,China;Qingdao Sharing Intelligent Manufacturing Co.,Ltd.,Qingdao 266400,China)

机构地区：[1]山东科技大学机械电子工程学院,青岛266400 [2]青岛共享智能制造有限公司,青岛266400

出　　处：《组合机床与自动化加工技术》2023年第9期63-67,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：山东省自然科学基金面上项目(ZR2021ME233,ZR202103040075)。

摘　　要：对于盾构管片模具复杂的螺栓拆卸问题,在求得螺栓轨迹的情况下,对拆卸螺栓机械手的运动轨迹进行了拟合及优化,以平面四杆机构和柔性件组合来实现机械手的既定功能。首先通过平面四杆机构对螺栓轨迹进行拟合,以既定轨迹与平面四杆机构固定点轨迹的距离之和设计目标函数,通过粒子群算法对四杆参数进行优化求解。随后在平面四杆机构中加入柔性件来优化机械手的运动轨迹,并将两种形式通过仿真分析进行对比。最终搭建拆卸螺栓机械手的实验模型,验证了机械手工作过程的平稳性以及基本动作的完整性。For the complicated bolt disassembly problem of shield segment die,this paper has fitted and optimized the movement trajectory of the manipulator when the bolt trajectory is obtained.The planar four-bar mechanism and flexible parts are combined to realize the established function of the manipulator.Firstly,the plane four-bar mechanism was used to fit the bolt trajectory,and the objective function was designed by the sum of the distance between the given trajectory and the fixed-point trajectory of the plane four-bar mechanism.The four-bar parameters were optimized and solved by particle swarm optimization algorithm.Then a flexible part is added to the planar four-bar mechanism to optimize the trajectory of the manipulator,and the two forms are compared by simulation analysis.Finally,the experimental model of the bolt-removing manipulator was built to verify the stability of the manipulator′s working process and the integrity of its basic actions.

关 键 词：管片模具 拆卸机械手 轨迹拟合 粒子群算法 仿真 实验 

分 类 号：TH164[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]