工业机器人六连杆机构模型建立及复合形法优化  

Establishment of Six-Link Mechanism Model of Industrial Robot and Optimization of Composite Method

作　　者：张彪 Zhang Biao(Henan Advanced Technical School of Industry and Information Technology,Zhengzhou Henan 451150,China)

机构地区：[1]河南省工业和信息化高级技工学校,河南郑州451150

出　　处：《现代工业经济和信息化》2024年第6期148-149,共2页Modern Industrial Economy and Informationization

摘　　要：建立了一种工业机器人六连杆机构模型并开展合形法优化分析。结果表明:将各个坏点分别映射到中心区域内,映射点与已剔除坏点结合形成新的组合形,将组合形状逐步转化为最优解,最后获得期望迭代精度;滑块在优化前后形成的移动特征随偏心率的改变,在最优方案下可以最大限度地减少行程,确保其控制精度获得有效控制。A six-link mechanism model of industrial robots was established and the optimization analysis of the conformal method was carried out.The results show that each bad point is mapped to the central region,the mapping point is combined with the eliminated bad point to form a new composite shape,and the combined shape is gradually transformed into the optimal solution,and the expected iterative accuracy is finally obtained.The movement characteristics of the slider formed before and after optimization change with the eccentricity,and the stroke can be minimized under the optimal scheme to ensure the effective control of its control accuracy.

关 键 词：工业机器人 六连杆机构 运动学 复合形法 稳定性 

分 类 号：TH112[机械工程—机械设计及理论]