基于重力势能的模块化机械臂构型设计

Configuration design of modular manipulator based on gravitational potential energy

针对模块化机械臂面向任务进行构型设计时,自重过大会降低机械臂输出精度的问题,提出了一种基于重力势能的多目标构型设计方法。首先,介绍了机械臂的模块库,包括模块库中模块的种类划分和模块的数学表达方式;其次,对构型的优化设计标准进行了说明,对重力势能作为优化目标的合理性和可行性进行了分析,介绍了可操作度和任务点处所需克服重力作为评价标准的函数表达;最后,结合机械臂的约束条件,选用遗传算法对机械臂构型进行了优化设计,并通过喷涂机械臂设计实例证明了设计方法的可行性。研究结果表明:该方法设计得到的喷涂机械臂能够在保证灵活性的同时拥有更小的自重,减少了机械臂自重对输出精度的影响;该方法可为模块化机械臂构型设计提供理论依据。

Aiming at the problem of reducing the output accuracy of the manipulator when the dead-weight was too large when it was task-oriented,a multi-objective configuration design method based on gravity potential energy was proposed.Firstly,the module library of the manipulator was introduced,including the classification of the modules in the library and the mathematical expression of the modules.Secondly,the optimization desiyn standed of configuration was explained,the rationality and feasibility of the potential energy of gravity as the optimization objective were analyzed,and the functional expression of the operability and the need to overcome the evaluation standard of gravity at the task point were introduced.Finally,combined with the constraint conditions of the manipulator,genetic algorithm was selected to optimize the configuration of the manipulator.The feasibility of the design method was proved by an example of the spray manipulator configuration design.The results indicate that the spray arm designed by this method can ensure the flexibility and have less dead-weight,reduces the influence of the dead-weight of the arm on the output accuracy,and it provides a theoretical basis for the modular arm configuration design.