双自由度串联机械手的输入转矩优化

Input Torque Optimization of a Double Degree of Freedom Serial Manipulator

针对串联机械手在执行任务过程中执行机构输入转矩较大,导致机构运动不平稳的问题,创建双自由度串联机械手运动简图模型.采用能量最小化控制方式,构造能量控制的动力学方程,分析机械手关节角度、连杆质量及各关节之间的距离,确定优化关系式.采取优化方法计算输入转矩的控制方程,得出输入转矩的最佳尺寸,并结合具体实例,在Matlab/Simulink软件中对优化后输入转矩进行仿真.结果表明:与优化前的仿真结果相比较,优化设计后机械手输入转矩较小,整体波动相对平稳,效果较好.

As for the problem that the input torque of the serial manipulator actuator is large in the executing process, which leads to the instability of the mechanism motion, a double degree of freedom serial manipulator kinematic sketch model is created. Using the energy minimization control method, the dynamic equation of the energy control is construc- ted. Manipulator joint angle, the quality of connecting rod, and the distance between joints are analyzed, then the optimi- zation equation are determined. Taking the optimization method to calculate the input torque control equation, the optima/ size of the input torque is obtained. Combining with concrete examples, the optimized input torque is simulated in the Matlab/Simulink software. Results show that compared with the simulation results before optimization, the optimized de- sign of the manipulator input torque is smaller, the overall fluctuation is relatively stable and the result is better.