基于MOGA的焊接机器人龙门架结构优化研究

Research on optimization of gantry structure of welding robot based on MOGA

为减小焊接机器人龙门架结构质量,提高焊接机器人动态响应能力,提出了一种基于多目标遗传算法(MOGA)的焊接机器人龙门架结构优化方法。通过构建焊接机器人龙门架结构Kriging近似模型,以龙门架结构质量为优化目标,龙门架横梁板材厚度、立柱板材厚度、底座板厚度为约束条件,采用MOGA算法对目标函数进行求解,得出焊接机器人龙门架结构的最优参数。仿真结果表明,采用Kriging近似模型优化的焊接机器人龙门架结构在满足静态特性和动态特性要求的情况下,龙门架结构质量较优化前减小了45.88%,为111.23 kg,所提方法具有良好的优化效果。

In order to reduce the quality of the gantry structure of welding robot and improve the dynamic response ability of the welding robot,an optimization method of the gantry structure welding robot based on multi-objective genetic algorithm(MOGA)is proposed.By constructing a Kriging approximate model of the gantry structure of welding robot,it takes the quality of the gantry structure as the objective function,and takes the thickness of the crossbeam plate,the column plate,and the base plate of the gantry as the constraints,the method uses MOGA algorithm to solve the objective function,so as to obtain the optimal parameters of the gantry structure of welding robot.The simulation results show that the gantry structure of the welding robot solved by the proposed method can satisfy the dynamic response ability under the static and dynamic characteristics,and reduce the quality of the gantry structure.Compared with the gantry structure before optimization,the quality of the gantry structure optimized by the proposed method decreases by 45.88%,which is 111.23 kg,shows the good optimization effect.