喷浆机器人手臂俯仰机构的优化设计

Optimization Design for Adjusting Attitude Mechanism of Shotcrete Robot

喷浆机器人做大臂俯仰运动时应使杆件与地面保持平行,同时需要整体结构紧凑,运动时不能产生自锁现象,大臂俯仰运动能达到要求的极限位置,而且油缸也要尽量短。为了满足以上的设计要求选用平衡油缸的联动机构,以实现运动过程中杆件与地面平行的要求。运用优化设计理论,选择外罚函数法,对平衡油缸联动机构建立数学模型,运用C语言编写优化程序,求解得到最优设计方案。

When the cylinder working, the member system must keep paralleling to floor. The posture scope must be met and the mechanical self-locking cannot be caused in the limiting position. Based on this, the structures of various parts should be compact and the length of the cylinder should be short as far as possible. Therefore,the optimized design has been adopted to the organization, and found mathematical model. It verified the validity of the optimized result.