摘要
以抑制柔性臂的残余振动为目的,提出一种使用免疫遗传算法和三次样条插值的抑振轨迹规划方法。首先考虑关节柔性和臂杆柔性,使用假设模态法和Lagrange方程建立全柔性机械臂系统的动力学方程,得到了弹性振动与运动方程之间的关系。其次将五次多项式与三次样条函数相结合构造运动轨迹,以插值点位移浮动值作为待优化变量。最后采用免疫遗传算法计算得到了全柔性机械臂残余振动最小的轨迹,数值计算结果证明了该抑振轨迹规划方法的有效性。
In order to suppress the residual vibration of flexible manipulator,a trajectory planning method based on immune genetic algorithm and cubic spline interpolation is proposed.The dynamic equations of the fully flexible manipulator system are established by using the assumed modal method and Lagrange equation.The relationship between the vibration and motion is obtained.The quintic polynomial combined with the three spline function is used to construct the trajectory.The floating value of interpolation point is used as the variable,the minimum residual vibration trajectories of the full flexible manipulator are obtained by using the immune genetic algorithm.Numerical calculation shows the effectiveness of the method.
作者
王航
Wang Hang(College of Mechanical and Eelectrical Engineering,Xi'an Railway Vocational & Technical Institute,Shaanxi Xi'an,710026,China)
出处
《机械设计与制造工程》
2018年第12期28-32,共5页
Machine Design and Manufacturing Engineering
关键词
柔性关节
柔性连杆
振动抑制
轨迹规划
flexible joint
flexible link
vibration suppression
trajectory planning
