基于遗传算法的六自由度焊接机器人杆长优化  

Optimization of Rod Length for Six Degreeof Freedom Welding Robot Based on Genetic Algorithm

作　　者：赵鹏程 代磊 王学军 何朝明[1] ZHAO Pengcheng;DAI Lei;WANG Xuejun;HE Chaoming(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610000,China;Southwest Pipeline Co.,Ltd.,National Pipe Network Group,Chengdu 610000,China)

机构地区：[1]西南交通大学机械工程学院,成都610000 [2]国家管网集团西南管道有限责任公司,成都610000

出　　处：《自动化与仪表》2025年第3期71-75,85,共6页Automation & Instrumentation

基　　金：国家重点研发计划“智能机器人”专项(2023YFB4707200);国家管网集团科技资助项目(CLZB202111)。

摘　　要：以野外大口径油气管道焊接的工作条件为背景,考虑到恶劣的工作环境会严重影响焊接机器人的工作空间范围。针对焊接机器人的末端刚度性能弱和轻量化问题,提出了一种在指定工作空间下对六自由度焊接机器人的每个臂长进行优化的方法,以达到在指定工作空间下焊接机器人的臂展要求。首先,结合D-H参数法建立焊接机器人的运动学模型,运用笛卡尔坐标系变换矩阵和几何解析数值法,对焊接机器人进行逆运动学求解,分析指定空间位置的可达率;然后,运用遗传算法优化空间位置到达率、轻量化参数和末端刚度参数,通过适应度函数寻求杆长的最优解;最后,实验结果表明,最优杆长的适应度值相较于原始杆长提高了8.27%,指定空间到达的覆盖率提高了7.33%,从而验证了提出方法的有效性。Taking the working conditions of large-diameter oil and gas pipeline welding in the field as the back-ground,considering that the harsh working environment will seriously affect the working space range of the welding robot.Aiming at the weak end stiffness performance and lightweighting of welding robots,a method is proposed to optimize each arm length of a six-degree-of-freedom welding robot under a specified workspace to achieve the arm span of a welding robot under a specified workspace,Firstly,the kinematic model of the welding robot is established by combining the D-H parametric method,and the inverse kinematic solution of the welding robot is carried out by applying the Cartesian coordinate system transformation matrix and the geometric analytical numerical method to ana-lyze the reachability of the specified spatial position.Using genetic algorithm to optimize the spatial position arrival rate,lightweighting parameter and end stiffness parameter,and seeking the optimal solution of rod length through the fitness function.Finally,the experimental results show that the fitness value of the optimal pole length is improved by 8.27% compared to the original pole length,and the coverage of the specified spatial reach is improved by 7.33%,thus verifying the effectiveness of the proposed method.

关 键 词：焊接机器人 工作空间 遗传算法 刚度性能 杆长优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]