摘要
为了充分发挥高速Delta机器人误差累积小、运动速度快的优点,需对Delta机器人进行杆件优化的研究。在建立系统运动学和刚体动力学模型的基础上,定义了全局灵巧度与主动臂冲击振动函数,根据Delta机器人的实际工作要求,对其进行了轨迹规划。利用MATLAB遗传算法工具箱,分别以灵巧度与冲击振动函数作为适应度函数,求得各自全局的最优解,再以求得的最优解作为杆件尺寸的上下界,利用权重系数变换法将灵巧度与冲击振动函数这一多目标优化问题转化为单目标优化的问题,据此综合出一组满足优化目标的尺度参数,为Delta机器人的结构优化设计提供了参考依据。
In order to give full play of the advantages of error accumulated small and fast running speed of the high speed Delta robot,the research of bar optimization for the Delta robot is need. Based on establishing the kinematics and dynamics of rigid body model of the system,the global dexterity and the shock vibration function of driving arm are defined,according to the actual work requirements of the Delta robot,the work trajectory is planned. By using MATLAB genetic algorithm toolbox,respectively with dexterity and shock and vibration function as fitness function,the optimal solution of global is got. Then,taking the obtained optimal solution as the upper and lower bounds,by using the weight factor transformation method,the multi- objective optimization of dexterity and shock vibration function is transformed into a single objective optimization,then according to the above method,a set of meet the scale parameter optimization objectives are synthesized,a reference for the Delta robot structure optimization design is provided.
出处
《机械传动》
CSCD
北大核心
2016年第1期21-26,共6页
Journal of Mechanical Transmission
基金
教育部中央高校基本科研业务专项基金重点项目资助项目(JUSRP51316B)
关键词
Delta机器人
灵巧度
冲击振动
遗传算法
权重系数变换法
Delta robot
Dexterity
Shock and vibration
Genetic algorithm
Weight factor transformation method
