基于轨迹规划法的机械臂抑振研究  

Research on Vibration Suppression of Manipulator Based on Trajectory Planning Method

作　　者：孟彩茹 郭岩 姚聪聪 MENG Cairu;GUO Yan;YAO Congcong(School of Mechanical and Equipment Engineering,Hebei University of Engineering,Handan 056038,China)

机构地区：[1]河北工程大学机械与装备工程学院,邯郸056038

出　　处：《组合机床与自动化加工技术》2024年第3期54-57,63,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：为提高机械臂作业时的控制精度,抑制关节处柔性元件引起的弹性振动。以史陶比尔TX40机械臂为研究对象,提出一种考虑机械臂关节柔性的抑振轨迹规划方法。在柔性关节模型的基础上,考虑柔性关节的弹性变形量对轨迹规划的影响,建立系统微分方程,定义抑制关节弹性振动的目标函数,并采用改进的粒子群算法(GAPSO)对目标函数进行优化,得到末端运动轨迹。结果表明,在GAPSO算法的优化下,末端运动轨迹位移波动明显减小,轨迹曲线更加平滑,末端的弹性振动明显减小。与基本粒子群算法相比,GAPSO算法保证了群体多样性,避免了目标函数易陷入局部最优解的问题,且具有更快的收敛速度。This improves the accuracy of controlling the motion of the manipulator and suppresses elastic vibrations caused by the flexible elements of the joint.Using the St ubli TX40 manipulator as the test object,we propose a path planning method to reduce vibrations by considering the flexibility of the manipulator joints.Based on the flexible joint model,a system differential equation considering the influence of the elastic deformation of the flexible joint on trajectory planning is constructed,and an objective function to suppress the elastic vibration of the joint is defined.Calculated using the augmented particle swarm optimization algorithm(GAPSO).After optimization,we get the final trajectory.The results show that by optimizing the GAPSO algorithm,the variability of the rail tip displacement is significantly reduced,the rail curve is smoother,and the oscillation of the spring tip is significantly reduced.Compared with the basic particle swarm optimization algorithm,the GAPSO algorithm provides population diversity,avoids the problem that the objective function is subject to local optimism,and has a higher convergence speed.

关 键 词：柔性关节 轨迹规划 弹性振动 

分 类 号：TH162[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]