基于哈里斯鹰算法的采摘机械臂机构优化设计

The Optimization Design of Picking Robot Arm Mechanism Based on Harris Hawk Optimization Algorithm

【目的】优化调节农业采摘机械臂结构尺寸,降低机械臂功耗,提高采摘效率及续航能力。【方法】笔者从采摘机械臂实际设计需求出发,采用功耗指标、可操作性、速度最小值、运动传递准确度等多种尺度对机械臂进行综合评价,明确了以连杆二与连杆三的长度L_(2)、L_(3)为设计变量,形成了基于工作空间与工作条件的约束,搭建了采摘机械臂机构优化模型,并采用哈里斯鹰算法对农业采摘机械臂结构最优尺寸进行了求解。【结果】当L_(2)=0.656m,L_(3)=0.346m时,机械臂各项性能最优。【结论】哈里斯鹰算法具有原理简单、参数少、稳定性高、收敛速度快等特点,为目标函数无法求导的优化问题提供了一种方便可行的求解思路,可为机械臂后续的设计工作提供指导。

[Objective]To optimize and adjust the structural dimensions of agricultural harvesting robotic arms,reduce the power consumption of the robotic arms,and improve harvesting efficiency and endurance.[Method]Starting from the actual design requirements of the harvesting robotic arm,the author comprehensively evaluated the robotic arm using various scales such as power consumption index,operability,minimum speed value,and motion transmission accuracy.The length L_(2) and L_(3) of link two and link three were identified as design variables,forming constraints based on workspace and working conditions.An optimization model for the harvesting robotic arm mechanism was constructed.And the Harris Hawk Optimization algorithm was used to solve the optimal size of the agricultural harvesting robotic arm structure.[Result]When L_(2)=0.656 m and L_(3)=0.346 m,the performance of the robotic arm is optimal.[Conclusion]The Harris Hawk Optimization algorithm has the characteristics of simple principle,few parameters,high stability and fast convergence speed.It provides a convenient and feasible solution for optimization problems where the objective function cannot be differentiated,and can provide guidance for the subsequent design work of robotic arms.