加热炉进出料机械手运动学分析及参数优化
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摘要
针对环形加热炉设计了一种进出料机械手。根据机械手结构、构件的尺寸、驱动规律及构件间相对关系,采用闭链矢量环法建立了运动学模型;利用VB软件对该模型的理论求解过程进行编程,实现该系列机械手末端执行器的运动学参数化;然后,使用ADAMS软件对机械手进行运动仿真,验证了运动学模型的正确性;在满足机械手任务工作范围的情况下,采用自适应模拟退火算法对机械手尺寸进行优化,有效地改善了机械手的惯性力,可为该系列机械手设计研究提供可靠的理论依据。
A kind of feeding and catching manipulator was designed for the production of annular heating furnace.According to the structure of the manipulator,the size of the component,the driving law and the relative relationship between the components, the kinematic model was established by the closing-vector-circle method.The theoretical solution process of the model was programmed with VB software to realize the kinematic parameterization of the end manipulator.The simulation of the manipulator was carried out by using ADAMS software to verify the correctness of the kinematic model.In the case of satisfying the task scope of manipulator,the size of manipulator was optimized by the method of adaptive simulated annealing algorithm,and then the inertia force of manipulator was effectively improved.The research result provides a reliable theoretical basis for the design and research of the manipulator.
A kind of feeding and catching manipulator was designed for the production of annular heating furnace.According to the structure of the manipulator,the size of the component,the driving law and the relative relationship between the components, the kinematic model was established by the closing-vector-circle method.The theoretical solution process of the model was programmed with VB software to realize the kinematic parameterization of the end manipulator.The simulation of the manipulator was carried out by using ADAMS software to verify the correctness of the kinematic model.In the case of satisfying the task scope of manipulator,the size of manipulator was optimized by the method of adaptive simulated annealing algorithm,and then the inertia force of manipulator was effectively improved.The research result provides a reliable theoretical basis for the design and research of the manipulator.
引文
[1]潘楚滨.液压与气压传动[M].北京:机械工业出版社,2010.
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[4]Abe A.Trajectory Planning for Residual Vibration Suppression of A Two-link Rigid-flexible Manipulator Considering Large Deforma tion[J].Mechanism and Machine Theory,2009,44(9):1627-1639.
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[6]杨雄,孔庆忠,张海平.五自由度关节型机器人结构设计及其动态仿真研究[J].机械设计与制造,2009(08):169-171.
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[9]文怀兴,柳建华,鲁剑啸.基于ADAMS的夹持机械手虚拟设计及其结构优化[J].机械设计与制造,2010,033(03):75-77.
[10]KIRKPATRICK S,GELATT C,VECCHI D.Optimization by Simulated Annealing[J].Sience,1983,220(4598):671-680.
[2]蔡自兴.机器人学(第二版)[M].北京:清华大学出版社,2009.
[3]梁喜凤,苗香雯,崔绍荣.番茄收获机械手运动学优化与仿真实验[J].农业机械学报,2005,36(7):96-100.
[4]Abe A.Trajectory Planning for Residual Vibration Suppression of A Two-link Rigid-flexible Manipulator Considering Large Deforma tion[J].Mechanism and Machine Theory,2009,44(9):1627-1639.
[5]李浩.六自由度机械臂轨迹规划方法研究[D].杭州:浙江工业大学,2015.
[6]杨雄,孔庆忠,张海平.五自由度关节型机器人结构设计及其动态仿真研究[J].机械设计与制造,2009(08):169-171.
[7]SAGGERE L,KOTA S.Synthesis of Planar,Compliant Four-bar Mechanisms for Compliant-segment Motion Generation[J].Journal of Mechanical Design,2001,121(1):141-147.
[8]NORTON R L.机械原理.韩建友,改编.北京:高等教育出版社,2007.
[9]文怀兴,柳建华,鲁剑啸.基于ADAMS的夹持机械手虚拟设计及其结构优化[J].机械设计与制造,2010,033(03):75-77.
[10]KIRKPATRICK S,GELATT C,VECCHI D.Optimization by Simulated Annealing[J].Sience,1983,220(4598):671-680.