5R装夹机械臂几何参数优化设计

Geometrical parameters optimization design of 5R clamping manipulators

工作空间是衡量关节式工业机器人工作能力一个重要性能指标,主要由机器人手臂几何参数确定(连杆长度和关节转角范围).将工作空间的截面分为主截面和副截面,给出了主截面的其中一种基本形状.通过分析机械臂手臂连杆长度对工作间所包围长方体能力的影响,给出确定任务路径的最小包容长方体原则.结合装夹机械臂的应用需求,提出一种以材料最省和主截面面积最小为优化目标、以包围目标任务的最小包容长方体为约束的机械臂手臂几何参数的优化方法;采用线性加权法,基于Matlab优化工具箱的约束非线性规划函数命令fmincon,求解机械臂手臂几何参数的多目标非线性规划问题.

Workspace is an important performance index for measuring the work capability of articulated industrial robot,which is determined by arm geometrical parameters（length of link and range of joint angle）.In this paper,the cross-sections of workspace is defined as primary section and subordinate section and one basic shape of primary section is presented.The principle which determine the minimum contain cuboid of task path is presented,by analyzing the effect of link length of arm on the ability of surrounding cuboid.In consideration of the application requirements,an optimization method of arm geometrical parameters is proposed,with the multiple goals which is minimum material,minimum area of primary section and the constraint of surrounding the minimum contain cuboid.Then,the linear weighted method is used to solve the multi-objective optimization of arm geometrical parameters,combined with the fimincon function macro of MATLAB Optimization Toolbox.