[1]刘延杰,马清伍,梁 乐,等.一种考虑柔性的码垛机器人动力学性能优化方法[J].机械与电子,2015,(10):57-61.
　LIU Yanjie,MA Qingwu,LIANG Le,et al.A Method for Dynamic Characteristics Optimization of Flexible Palletizing Robot[J].Machinery & Electronics,2015,(10):57-61.
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一种考虑柔性的码垛机器人动力学性能优化方法
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年10期
页码:
57-61
栏目:
智能工程
出版日期:
2015-10-25

文章信息/Info

Title:
A Method for Dynamic Characteristics Optimization of Flexible Palletizing Robot
文章编号:
1001-2257(2015)10-0057-05
作者:
刘延杰; 马清伍; 梁 乐; 韩海军
(哈尔滨工业大学机器人系统与国家重点实验室,黑龙江 哈尔滨 150000)
Author(s):
LIU Yanjie; MA Qingwu; LIANG Le; HAN Haijun
(State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150000, China)
关键词:
高速重载;  柔性;  动态特性;  多目标优化
Keywords:
high-speed and heavy-load;  flexibility;  dynamic characteristics;  multi-objective optimization
分类号:
TP24
文献标志码:
A
摘要:
提出一种考虑关节柔性影响的高速重载码垛机器人动力学性能优化方法。首先,考虑关节柔性的影响,建立了刚柔耦合动力学方程; 随后进行了模态分析以及受迫振动分析; 提出以最低阶固有频率最大和各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; 最后构造有约束的多目标优化问题,并利用遗传算法对该多目标优化问题进行求解。优化结果表明,机器人的动力学性能明显改善,说明优化方法合理有效。
Abstract:
Considering the impact of flexible joint, a method for dynamics optimization design of high-speed, heavy-load palletizing robot is presented. Firstly, the flexible dynamics model is established and dynamics simulation is carried out. Next, Modal Analysis and forced vibration analysis is followed. The first natural frequency and the maximum joint driving torque based on the target trajectory are selected as dynamic optimization goals and a multi-objective optimization model is established, which is solved by NSGA-II genetic algorithm. Optimization results showed that: The dynamics performance of the robot is significantly improved, indicating that the optimization method is reasonable and effective.

参考文献/References:

[1] LI Q,ZHANG W J,CHEN L.Design for control-A concurrent engineering approach for mechatronic systems design [J].Ieee-asme T Mech, 2001, 6(2):161-9.
[2] KHATIB O.Inertial properties in robotic manipu lation:an object-level Framework [J].The International Journal of Robotics Research, 1995, 14(1):19-36.
[3] BOWLING A, KHATIB O. The dynamic capability equations: a new tool for analyzing robotic manipulator performance [J]. Robotics, IEEE Transactions on, 2005, 21(1): 115-23.
[4] Sivanandam S N, Deepa S N. Introduction to genetic algorithms [M].Springer Publishing Company Incorporated, 2007.
[5] Coello Coello C A. Evolutionary multi-objective optimization: a historical view of the field [J]. Computational Intelligence Magazine, IEEE, 2006, 1(1): 28-36.
[6] Saravanan R, Ramabalan S, Ebenezer N, et al.An evolutionary multi-criteria design optimization of robot grippers [J]. Applied Soft Computing, 2009, 9(1):159-172.

相似文献/References:

[1]张世杰,梁 乐,马清伍,等.高速重载码垛机器人刚柔耦合模型建立及动态特性分析方法[J].机械与电子,2016,(01):67.
　ZHANG Shijie,LIANG Le,MA Qingwu,et al.A Method for Rigid-flexible Coupling Modeling and Dynamic Characteristic Analysis of High-speed and Heavy-load Palletizing Robots[J].Machinery & Electronics,2016,(10):67.

备注/Memo

备注/Memo:
收稿日期:2015-04-20
基金项目:国家“863计划”项目(2013AA040901); 黑龙江省创新专项(YC13D004)
作者简介:刘延杰(1975-),男,教授,黑龙江哈尔滨人,研究方向为机器人技术; 马清伍(1991-),男,辽宁朝阳人,硕士研究生,研究方向为工业机器人结构优化。
更新日期/Last Update: 2019-10-25