基于低能耗的码垛机器人平衡弹簧缸优化设计

Optimization design of balancing spring cylinder of palletizing robot based on low-energy

研究了MD1200-YJ码垛机器人平衡弹簧缸低能耗优化设计问题。首先,基于机器人常规刚体动力学模型,建立了考虑弹簧平衡力矩和负载动态重力矩的肩关节逆动力学模型,并结合运动参数建立了能耗模型;其次,利用3-4-5次多项式插值函数完成操作空间“门”字型轨迹规划;再次,以平衡弹簧缸的结构参数和安装位置参数为设计变量,以其取值范围为约束条件,以肩关节力矩绝对值的最大值最小和力矩波动最小为优化目标,利用NSGA-II算法进行多目标优化求解;最后,通过比较,优化后的肩关节力矩和能耗显著降低,动态性能明显改善,验证优化方法的有效性。

The optimization design of balance spring cylinder of MD1200-YJ palletizing robot with low energy consumption is researched.Firstly,based on the conventional rigid body dynamics model of robot,an inverse dynamics model of shoulder joint considering the spring balance torque and load dynamic weight torque is established,and the energy consumption model is established combined with the motion parameters.Secondly,the 3-4-5 polynomial interpolation function is used to complete the trajectory planning of operational space terminal“door”type.Thirdly,taking the structural parameters and installation position parameters of the balance spring cylinder as design variables and their value range as constraint conditions,and taking the minimum maximum absolute value and the minimum fluctuation of shoulder joint torque as optimization objectives,NSGA-II algorithm is used for multi-objective optimization solution.Finally,by comparison,the optimized shoulder joint torque and energy consumption are significantly reduced,and the dynamic performance is significantly improved,verifying the effectiveness of the optimization method.