堆垛机器人末端执行机构轻量化设计  

Design and Simulation Analysis of Vacuum Adsorption Device for Wood Door Stacking Robot

作　　者：崔新霞[1] 赵明 江红祥[1] 刘送永[1] CUI Xin-xia;ZHAO Ming;JIANG Hong-xiang;LIU Song-yong(School of Mechanical and Electrical Engineering,China University of Mining and Technology,Jiangsu Xuzhou 221116,China)

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221116

出　　处：《机械设计与制造》2024年第11期335-340,345,共7页Machinery Design & Manufacture

基　　金：国家重点研发计划(2018YFB1308303)。

摘　　要：为了提高堆垛机器人在定制式木工家具生产线的作业效率,设计了一种基于气压驱动的真空吸附式末端执行机构,提出一种针对该机构的两工况多目标轻量化设计方法。首先,校核了两工况下的静动态性能,建立了末端执行机构参数化模型。定义9个设计变量,采用最优拉丁超立方进行试验设计,并对近似模型的精度进行评价,确定径向基神经网络模型作为优化设计的代理模型。然后,以末端执行机构的质量、变形、应力为响应目标,并以执行机构的尺寸为约束进行多目标轻量化设计。最后对优化后的模型加工出样机,进行试验验证。结果表明:优化后末端执行机构在保证静动态特性满足设计要求的前提下,轻量化得到明显改善,质量降幅15.7%。In order to improve the operation efficiency of wooden door stacking robot in customized woodworking furniture production line,a vacuum adsorption end actuator driven by air pressure is designed,and a two working condition multi-objective lightweight design method for the mechanism is proposed.Firstly,the static and dynamic performance under two working conditions is checked,and the parametric model of end effector is established.Nine design variables are defined,the optimal Latin hypercube is used for experimental design,the accuracy of the approximate model is evaluated,and the radial basis function neural network model is determined as the agent model of optimal design.Then,the multi-objective lightweight design is carried out with the mass,deformation and stress of the end actuator as the response target and the size of the actuator as the constraint.Finally,the optimized model is processed into a prototype for experimental verification.The results show that the weight reduction of the optimized end effector is significantly improved and the mass reduction is 15.7% on the premise of ensuring that the static and dynamic characteristics meet the design requirements.

关 键 词：堆垛机器人 试验设计 末端执行机构 轻量化设计 代理模型 真空吸附 

分 类 号：TH16[机械工程—机械制造及自动化] TB486[一般工业技术—包装工程]