基于动力学的机器人手臂上零部件安装位置优化

Optimization Design of Robot Arm Component Assembly Positions Based on Dynamics

针对所设计的XAUT型6自由度关节型机器人,在工作空间和基本结构已定的情况下,应用凯恩方法,建立其动力学模型,找出关节驱动力矩最大的位姿,视为最恶劣情况,在此情况下以关节力矩和最小为目标函数,用安装在机器人手臂上的零部件的质心坐标编成基因码串,应用遗传算法对这些零部件的安装位置进行优化,结果表明可以达到改善机器人动力学性能的目的。

Aimed at a 6 degrees-of-freedom（DOFs） joint-type robot XAUT-Ⅱ , it＇s dynamical model is established by using Kane＇s method and the pose of the maximal joint driven moment is found out. This pose is regarded as the worst case of the robot in dynamical performance. Taking the minimum sum of joint moment as a goal of optimization at certain pose, some component assembly positions of the robot were optimized using Genetic algorithm （GA） in which all of component mass-center coordinates were coded as a chromosome of GA. The optimized result was used to modify the designed robot model. The joint moment calculated by modified robot model indicates that the dynamic performance of the robot has been improved in this way.