一种含柔性杆件的高速并联机器人优化设计方法研究
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摘要
本文紧密结合提高高速并联抓取机器人动态精度的需要,以Diamond 600型2平动自由度并联机器人为对象,系统研究了考虑运动构件弹性的动力学建模及模型修正、试验方法、优化技术及性能评价等与动态设计相关的理论与方法。论文取得了如下创造性成果:
基于KED精确分析方法建立了Diamond 600并联机器人的弹性动力学模型。通过对比机器人在不同位姿下的模态,分析了其作为时变机构的模态频率的变化规律,修正了前人得出该机构动态特性分布具有对称性的结论,并研究了机器人运行峰值加速度对模态频率的影响。
以Diamond并联机器人动力学试验为例,提出了一种适用于研究时变机构的模态试验技术,通过对比两类模型(动平台模型和整机模型)的模态试验结果,从而准确判断出影响机器人操作精度的关键模态。在时变机构动态特性的模态试验研究中,运用该试验技术可以显著提高试验效率。
在运用静态有限元技术修正并联机器人理论模型的单元参数时,建立了一种适用于多原则的参数修正模型,该模型具有效率高且通用性强的特点。同时利用动态修正技术,以试验模态模型为基准,修正了弹性动力学模型。对比试验结果表明,修正后的模型基本能够反映机器人的动力学特性,可以作为优化设计的基础。
在不降低运行速度条件下,以提高操作精度为目标,提出一种组合递进的全局优化设计方法,借助遗传算法和经典优化算法,完成了Diamond 600并联机器人的动态设计。
基于模态性质分析的全域均值,提出了一种衡量时变机构的动力学评价指标,通过对比优化前后机器人的动力学指标值,表明优化后机器人的动态特性得到很大改善。
This dissertation presents a theoretical package for dynamic modeling, modal test, model refining, optimization technique and dynamics index of a translational 2-DOF parallel robot with flexible links named the Diamond 600 robot. The outcome has been employed in the elasto-dynamics optimization of the robot aimed at improvement of the dynamic accuracy of the end-effector for high-speed pick-and-place operation. The following contributions have been made.
By taking the Diamond robot as an example, the dynamic model is formulated based on the Kineto-elasto-dynamics (KED) theory. The unsymmetrical variation of modes is explored by modal analysis which corrected the conclusion of the natural frequency distribution symmetrically in workspace. Moreover, the relation between the acceleration maximum and the natural frequency variation is excogitated.
A new dynamic test technique is presented in order to obtain the time-varying modal parameter of a mechanism. These key modes related to the dynamic accuracy could be picked up by comparison between the modal test of the moving-platform and the modal test of the robot. The applicability and efficiency of this technique is validated by the dynamic test of the Diamond robot.
A new mathematical model is developed to modify element parameters by means of the static FEM technique. This mathematical model is general to modify parameters efficiently according to multiple requisitions. Moreover, the dynamic model is modified in conformity to the test model by dynamic modification technique. The modified model takes on the same characteristic as the actual robot approximately and has enough accuracy to optimization.
An integration of genetic algorithm (GA) and classic arithmetic is investigated to search the overall solution of the optimization which gets the better dynamic accuracy of the Diamond 600 robot’s by means of parameters modification. The GA avoided the local optimization, but it gets approximate one which is used as the initial basic feasible solution to seek out the global solution by classic arithmetic in succession.
An advanced dynamics index is proposed in virtue of modal shape classification, which is used to evaluate the dynamics of a mechanism with time-varying modal parameter. By means of the comparison between two indices of the original robot and the improved one, it is identifiable that the optimization improved the dynamic performance of the robot.
基于KED精确分析方法建立了Diamond 600并联机器人的弹性动力学模型。通过对比机器人在不同位姿下的模态,分析了其作为时变机构的模态频率的变化规律,修正了前人得出该机构动态特性分布具有对称性的结论,并研究了机器人运行峰值加速度对模态频率的影响。
以Diamond并联机器人动力学试验为例,提出了一种适用于研究时变机构的模态试验技术,通过对比两类模型(动平台模型和整机模型)的模态试验结果,从而准确判断出影响机器人操作精度的关键模态。在时变机构动态特性的模态试验研究中,运用该试验技术可以显著提高试验效率。
在运用静态有限元技术修正并联机器人理论模型的单元参数时,建立了一种适用于多原则的参数修正模型,该模型具有效率高且通用性强的特点。同时利用动态修正技术,以试验模态模型为基准,修正了弹性动力学模型。对比试验结果表明,修正后的模型基本能够反映机器人的动力学特性,可以作为优化设计的基础。
在不降低运行速度条件下,以提高操作精度为目标,提出一种组合递进的全局优化设计方法,借助遗传算法和经典优化算法,完成了Diamond 600并联机器人的动态设计。
基于模态性质分析的全域均值,提出了一种衡量时变机构的动力学评价指标,通过对比优化前后机器人的动力学指标值,表明优化后机器人的动态特性得到很大改善。
This dissertation presents a theoretical package for dynamic modeling, modal test, model refining, optimization technique and dynamics index of a translational 2-DOF parallel robot with flexible links named the Diamond 600 robot. The outcome has been employed in the elasto-dynamics optimization of the robot aimed at improvement of the dynamic accuracy of the end-effector for high-speed pick-and-place operation. The following contributions have been made.
By taking the Diamond robot as an example, the dynamic model is formulated based on the Kineto-elasto-dynamics (KED) theory. The unsymmetrical variation of modes is explored by modal analysis which corrected the conclusion of the natural frequency distribution symmetrically in workspace. Moreover, the relation between the acceleration maximum and the natural frequency variation is excogitated.
A new dynamic test technique is presented in order to obtain the time-varying modal parameter of a mechanism. These key modes related to the dynamic accuracy could be picked up by comparison between the modal test of the moving-platform and the modal test of the robot. The applicability and efficiency of this technique is validated by the dynamic test of the Diamond robot.
A new mathematical model is developed to modify element parameters by means of the static FEM technique. This mathematical model is general to modify parameters efficiently according to multiple requisitions. Moreover, the dynamic model is modified in conformity to the test model by dynamic modification technique. The modified model takes on the same characteristic as the actual robot approximately and has enough accuracy to optimization.
An integration of genetic algorithm (GA) and classic arithmetic is investigated to search the overall solution of the optimization which gets the better dynamic accuracy of the Diamond 600 robot’s by means of parameters modification. The GA avoided the local optimization, but it gets approximate one which is used as the initial basic feasible solution to seek out the global solution by classic arithmetic in succession.
An advanced dynamics index is proposed in virtue of modal shape classification, which is used to evaluate the dynamics of a mechanism with time-varying modal parameter. By means of the comparison between two indices of the original robot and the improved one, it is identifiable that the optimization improved the dynamic performance of the robot.
引文
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[3] http://www.robotics.org/
[4] http://www.parallemic.org/
[5] Clavel R, Delta, a fast robot with parallel geometry, Proceedings of the 18th International Symposium on Industrial Robots(ISIR’98), 1988: 91-100
[6]汪劲松,黄田,并联机床——机床行业面临的机遇与挑战,中国机械工程,1999,10(10):1103-1107
[7] http://www.demaurex.ch/
[8] http://www.abb.com/
[9] http://www.sig-robotics.com/
[10] http://www.elau.de/
[11] http://www.manz-automation.com/
[12] http://www.gmes.com.cn/
[13] http://www.lirmm.fr/~w3rob/SiteWeb/main.php
[14] http://www.sciencedaily.com/releases/2007/05/070503102529.htm/
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[16] Company O, Marquet F, Nabat F, et al, A new high-speed 4-dof parallel robot synthesis and modeling issue, IEEE Transactions on Robotics and Automation, 2003, 19(3): 411-420
[17] Codourey A, Dynamic modeling of parallel robots for computed-torque control implementation, The International Journal of Robotics Research, 1998, 17(2): 1325-1336
[18] Lee J D, Geng Z, A dynamic model of a flexible stewart platform, Computer and Structures, 1993, 48(3): 367-374
[19] Fattah A, Angeles J, Misra A K, Dynamics of a 3-DOF spatial parallel manipulator with flexible links, Proceedings of IEEE International Conference on Robotics and Automation, 1995: 627-632
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