基于多目标函数的工业机器人平衡系统优化系统赵旭宁,舒启林,牛保国.doc

基于多目标函数的工业机器人平衡系统优化系统 赵旭宁,舒启林,牛保国，王儒 (沈阳理工大学 机械工程学院，辽宁沈阳 110159) 摘要：针对工业机器人弹簧平衡缸的参数变化对工业机器人的不平衡力矩的影响，对其参数进行了相关的实验与测试。为提高工业机器人的工作性能与效率，本文对平衡缸参数造成的不平衡力矩的影响进行了分析及优化。在工业机器人重力参数和结构参数研究与测试的基础上，推导出工业机器人的不平衡力矩。得出各个参数对不平衡力矩的影响，以及机器人的运动学、动力学特性。构造参数相应的的约束条件和目标函数的非线性约束条件，结合多目标函数优化模型并对工程实例进行优化。最后，优化前与优化后的结果进行对比分析，得到了相应的优化效果。实验结果表明，优化结果满足实验要求。优化后，不平衡力矩的最大值降低，机器人运动更加稳定。优化系统具有有效性和实用性。 关键词：工业机器人；弹簧平衡缸；不平衡力矩;MATLAB；多目标函数优化。 中图分类号：TP24 The optimization design of the industrial robot balance system Based on the multi-objective function Zhao Xuning ,Shu Qilin，Niu Baoguo，Wang Ru，Zhu Zhenlin (School of Mechanical Engineering，Shenyang Ligong University，Liaoning Shenyang 110159；) Abstract：In view of the relevent experiments and tests on the industrial robot spring balance cylinder,the change of its paraments has a big impact on the unbalanced moment of industrial robot. In order to improve the working performance and efficiency of industrial robots, the influence of parameters on the unbalanced moment balance cylinder is analyzed and optimized on this paper. Based on researching and testing the gravity parameters and structure parameters of the industrial robot , We can deduce the unbalanced moment of industrial robots. Through the research of parameters, the various parameters exercises ?a great?influence?on the unbalanced moment , kinematics and dynamics characteristics of the robot. We structure parameters of the constraint condition and the objective function of nonlinear constraints.Then the engineering example is optimized combined with the multiple objective function optimization model. The experimental results show that the optimization results meet the experimental requirements.After optimization, the maximum unbalanced moment is reduced, the robot movement is more stable.The optimizing system show the effectiveness and practicability.Key words: industrial robots; Spring loaded balance cylinder; Unbalanced torque ;MATLAB；Multi-objective. 0引言 工业机器人的平衡对工业机器人十分重要，平衡方式就决定了工业机器人的平衡特