协作机器人SHIR5连杆壁厚参数的分析与优化

Analysis and Optimization of Thickness Parameters of Collaborative Robot SHIR5

针对协作机器人SHIR5,对其连杆壁厚参数进行了分析与优化设计。首先,在Workbench软件的辅助下,进行了连杆壁厚参数对机器人末端变形和机器人总质量的灵敏度分析,得到灵敏度较大的连杆壁厚参数。然后,以该连杆壁厚参数为设计变量,结合Kriging模型建立机器人末端变形和总体质量与连杆壁厚参数的近似模型。最后,通过遗传算法,以机器人的末端变形为约束,获得连杆厚度的最佳参数组合。优化设计前后的对比分析表明,机器人的末端变形基本保持不变的情况下,机器人总质量减小22.85%,说明了连杆壁厚参数优化方法正确有效。

Aiming at the collaborative robot SHIR5,the thickness parameters of the robot link are analyzed and optimized.First,with Workbench,the sensitivity of thickness parameters to the robot deformation and total mass is analyzed,and the thickness parameter with large influence on the objective function is obtained.Then,the Kriging model is used to establish the approximate model of the terminal deformation and the overall mass with the link thickness parameter as the design variable.Finally,by taking the end deformation of the robot as the constraint,the optimized parameters is obtained by genetic algorithm.The comparison and analysis of the optimization design shows that the mass of the robot is reduced by 22.85% when the deformation is basically the same,which indicates that the optimization method is effective.