自由度含局部闭链式码垛机器人动力学优化设计.pdf

20 13 年 11月 农 业 机 械 学 报 第44 卷 第 11期 doi:10.6041/ j.issn.1000鄄1298.2013.11.056 4 自由度含局部闭链式码垛机器人动力学优化设计* 张良安摇 马寅东摇 单家正摇 解安东 (安徽工业大学机械工程学院,马鞍山243002) 摘要:提出一种4 自由度含局部闭链式码垛机器人动力学优化设计方法。 在建立其刚体动力学模型的基础上,提 出在目标轨迹及确定运动规律下,以机器人大臂与小臂关节驱动力矩基于目标轨迹上的最大值最小作为动力学优 化目标。 在此基础上,构造有约束的多目标优化问题,并利用理想点法将该多目标优化问题转化成单目标优化问 题加以解决。 工程实例证明利用所提方法优化后得到的机器人尺度参数,能够使机器人在目标轨迹上的动力学性 能明显改善,大臂与小臂关节驱动力矩峰值降幅分别为9郾782%和8郾207%,说明优化方法合理、有效。 关键词:码垛机器人摇 局部闭链摇 轨迹规划摇 动力学优化设计 中图分类号:TH122;TP242郾2 文献标识码:A 文章编号:1000鄄1298(2013)11鄄0336鄄06 Optimal Dynamic Design of4鄄DOF Palletizing Robot with Closed鄄chain Zhang Liang蒺an摇 Ma Yindong摇 Shan Jiazheng摇 Xie Andong (School of Mechanical Engineering,Anhui University of Technology,Maanshan243002,China) Abstract:An approach was proposed for the optimal dynamic design of a 4鄄DOF palletizing robot with closed鄄chain. On the basis of rigid body dynamic model,a dynamic optimization objective was proposed to minimize the maximum driven torque based on target trajectory and determined motion law. Based on this,a multi鄄objective planning problem under certain constraining condition was constructed and then through shortest distance ideal point method converted to single鄄objective optimization problem. An example revealed that the robot蒺sdynamicperformancewasgreat improvedby optimizingtherobot蒺sscale parameter. The decreasing range of upper and lower arm蒺sjoint torque peak were9郾782% and8郾207% respectively,which show that the optimal dynamic design method is reasonable and effective. Key words:Palletizing robot摇 Closed鄄chain摇 Path planning摇 Optimal dynamic design 因此,从动力学角度出发,构造相应的动力学性能评 摇 摇 引言 价指标,进行机器人动力学设计就显得尤为重要。 [1] 许多学者对此作了