6-DOF混联打磨机器人空间设计优化策略

Optimization Strategy for Space Design of 6-DOF Hybrid Grinding Robot

提出了一种用于铸件清理加工的6-DOF混联打磨机器人,并针对机器人空间优化问题,建立了数学模型并进行了D-H参数分析;在常规解算方法受到局限性的情况下,提出了一种以目标为导向的改进算法。经过理论分析和实践验证,结果表明:该算法不但准确描述了生成的点云空间与目标工作空间的占比和分布情况,还计算出最优搜索方向和最佳步长,从而迅速可靠地求得了约束区间内的全局最优解。

A 6-DOF hybrid grinding robot for casting cleaning and processing is proposed,and for the robot space optimization problem,a mathematical model is established and D-H parameters are analyzed. In the case of the limitations of conventional solution methods,an improved target-oriented algorithm is innovatively proposed. After theoretical analysis and practical verification,the results show that:The algorithm not only accurately describes the proportion and distribution of the generated point cloud space and the target workspace,but also calculates the optimal search direction and optimal step size,so as to obtain the global optimal solution within the constraint interval quickly and reliably.