摘要
文章以动力学性能指标为优化目标,对六自由度工业机器人结构设计中的杆长、截面尺寸、质量和质心位置参数的优化设计方法进行了讨论;建立了六自由度机器人的刚体动力学模型,并对模型的计算精度进行了验证分析;在此基础上,以给定的某运动轨迹为例,对动力学性能优化进行了算例分析,并以机器人各驱动关节的峰值扭矩和能耗最小为动力学优化目标。算例结果表明,优化后各项动力学性能指标得到明显改善,腰部、大臂、小臂和腕部的驱动峰值扭矩能耗均有明显下降,验证了该文所述方法的有效性。
Taking the dynamic performance index as the optimization objective, an optimal design method for the structural length, sectional dimension, quality and centroid position parameters of 6-DOF industrial robot was discussed. A rigid body dynamic model of 6-DOF industrial robot was established, and the calculation precision of the model was verified. On this basis, the optimization of dynamic performance of robot exposed to given motion trajectory was discussed. The peak torque of each driving joint and the total energy consumption of the robot were employed as the optimization goal. The results show that the dynamic performance index is improved obviously after optimization. The peak torques of the waist, upper arm, lower arm and wrist obviously decrease, which verify the effectiveness of the method.
引文
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