高速重载机械臂优化设计与轨迹规划及振动抑制方法分析-optimization design, trajectory planning and vibration suppression method analysis of high-speed heavy-duty mechanical arm.docx

轨迹速度受限的问题，提出了一种基于动力学的在线近似时间最优平滑轨迹规划 新方法。采用参数形式来表示机械臂运动轨迹，且将关节力矩和速度限制转换到 该参数空间内构成伪速度限制曲线，伪速度曲线的构造采用在限制曲线上选取特 征点并利用三次多项式拟合的方法，这样既避免了龙格现象又保证了关节加加速 度的连续性。通过与传统基于运动学的机械臂轨迹规划方法比较，所提出的方法 在满足力矩限制的条件下，充分利用了关节的最大速度，使得机械臂按照规划的 轨迹运动的时间近似最优，提高了机械臂末端的运动速度，并且保证了轨迹规划 的实时性。该方法在搭建的实验平台上进行了实验验证。为解决高速重载机械臂柔性加大带来的振动加剧问题，提出了一种时间最优 输入整形振动抑制算法。首先，通过引入负脉冲整形器，将整形脉冲幅值作为优 化参数，使整形器的设计具有全局最优性，在此基础上，采用 NSGA-II 优化算 法，以敏感性最小和整形器延时最短为优化目标，考虑残余振动幅值和高阶模态 激励等约束条件，对整形器进行了优化。其次，采用神经网络对机械臂的振动模 型进行模拟，提高了振动参数的估计精度，使估计的振动频率误差在 ±1% 之内，估计的阻尼率误差在 ±3% 之内，从而减小了整形器对参数鲁棒性的要求。最后， 通过建立的 MATLAB-ADAMS 联合仿真模型及搭建的实验平台验证了该算法的 有效性。为验证论文所提出的建模、优化设计、轨迹规划及振动抑制算法的有效性， 建立了 3DOF 高速重载机械臂实验样机，并在该样机上进行了精度测试、优化设 计结果验证、关节模型参数辨识、轨迹规划、振动参数测试及振动抑制等实验， 验证了该机械臂优化设计合理，所提出的轨迹规划及振动抑制算法切实有效。关键词： 高速重载机械臂；优化设计；关节建模；轨迹规划；振动抑制AbstractIn the fields of modern manufacture industry, with continuous increase of production efficiency, manipulator arms are often required to perform production tasks with higher speed and heavier load, such as welding, transportation, palletizing, assembling and so on. Under those requirements, modern manipulator arm’s design presents high speed, heavy load and high performance characteristics. With the people’s awareness of resources and environmental enhancing, the manipulator arms are expected to have a relatively lower self-weight and lesser energy consuming. With the requirements of higher speed, heavier load and lesser self-weight, the flexibility of the mechanical body becomes more and more obvious, which inevitably leads to the problem of vibration aggravation and precision decline. Coupling characteristic of robot joints appears more apparent as velocity increases, the traditional trajectory methods based on kinematics are increasingly unable to meet usage requirements, so dynamic characteristics must be taken into account during trajectory planning. Large accelerations give rise to intense excitation on the mechanical body, which can cause vibration aggravation. These problems are the focus and difficulty in th