[1]陈世钟,刘延遂,吴品弘,等.基于刚度性能的机器人臂长优化[J].机械与电子,2015,(06):67-72.
　CHEN Shizhong,LIU Yansui,WU Pinhong,et al.Arm Link Length Optimization of Robots Based on Stiffness Performance[J].Machinery & Electronics,2015,(06):67-72.
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基于刚度性能的机器人臂长优化
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年06期
页码:
67-72
栏目:
智能工程
出版日期:
2015-06-26

文章信息/Info

Title:
Arm Link Length Optimization of Robots Based on Stiffness Performance
文章编号:
1001-2257(2015)06-0067-06
作者:
陈世钟1; 刘延遂2; 吴品弘1; 胡 杰1; 管贻生2; 刘冠峰2
(1.华南理工大学机械与汽车工程学院,广东 广州 510641; 2.广东工业大学机电工程学院,广东 广州 510006)
Author(s):
CHEN Shizhong1; LIU Yansui2; WU Pinhong1; HU Jie1; GUAN Yisheng2; LIU Guanfeng2
(1.School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510641,China; 2.School of Electro-mechanical Engineering,Guangdong University of Technology,Guangzhou 510006,China)
关键词:
工业机器人;  刚度矩阵;  刚度性能指标;  臂长优化
Keywords:
industrial robot;  stiffness matrix;  stiffness performance criterion;  arm link length optimization
分类号:
TP24
文献标志码:
A
摘要:
基于机器人静刚度模型,分析如何通过机器人臂长及位形优化提高机器人刚度。首先,在机器人典型传动部件刚度计算的基础上,分析刚度矩阵的最小奇异值,将之作为评价机器人静刚度性能的指标。然后,为了衡量机器人在整个工作空间中刚度性能的平均水平,提出采用刚度全域性能指标,并以之作为目标函数对机器人臂杆长度进行优化。最后,以本实验室开发的SCARA机器人为例,展示了优化方法的应用及其效果。
Abstract:
The problem of how to increase the stiffness of a robot through optimization of its link lengths and configuration based on stiffness performance is addresses in this paper. Based on the static stiffness models of typical transmissions of robotic joints, the minimum singular value of the stiffness matrix is first analyzed and taken as a criterion to evaluate stiffness performance. To measure the stiffness performance of a robot in its whole workspace, a global stiffness performance criterion is proposed and used as the objective to optimize link lengths of the robot. Finally, an application of the proposed optimization method is illustrated with the SCARA robot developed in our laboratory as an example. The feasibility and effectiveness of the method are verified by the application of the method.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2015-03-25
基金项目:国家基金委-广东省联合基金项目(U1401240); 广东省自然科学基金(S2013020012797); 国家自然科学基金(51375095)
作者简介:陈世钟(1989-),男,福建福州人,硕士研究生,研究方向为工业机器人;管贻生(1966-),男,博士,教授,博士研究生导师,研究方向为仿生机器人,机器人模块化、产业化及其应用,机器人自动化生产线的研究与开发等,通信作者。
更新日期/Last Update: 2015-06-26