堆垛机器人末端执行机构轻量化设计.pdfVIP

堆垛机器人末端执行机构轻量化设计

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%。

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

DesignandSimulationAnalysisofVacuumAdsorption

DeviceforWoodDoorStackingRobot

Abstract:Inordertoimprovetheoperationefficiencyofwoodendoorstackingrobotincustomizedwoodworkingfurnitureproduc-

tionline,avacuumadsorptionendactuatordrivenbyairpressureisdesigned,andatwoworkingconditionmulti-objectivelight-

weightdesignmethodforthemechanismisproposed.Firstly,thestaticanddynamicperformanceundertwoworkingconditions

ischecked,andtheparametricmodelofendeffectorisestablished.Ninedesignvariablesaredefined,theoptimalLatinhyper-

cubeisusedforexperimentaldesign,theaccuracyoftheapproximatemodelisevaluated,andtheradialbasisfunctionneural

networkmodelisdeterminedastheagentmodelofoptimaldesign.Then,themulti-objectivelightweightdesigniscarriedout

withthemass,deformationandstressoftheendactuatorastheresponsetargetandthesizeoftheactuatorastheconstraint.Fi-

nally,theoptimizedmodelisprocessedintoaprototypeforexperimentalverification.Theresultsshowthattheweightreductionof

theoptimizedendeffectorissignificantlyimprovedandthemassreductionis15.7%oonthepremiseofensuringthatthestaticand

dynamiccharacteristicsmeetthedesignrequirements.

KeyWords:EndEffector;LightweightDesign;WoodenDoorStacking;AgentModel;VacuumAdsorption

1引言的末端执