文章摘要
徐鹏,富威,陈艳龙,肖凯元,薛睿.七自由度球头开孔机器人结构优化研究[J].,2019,59(1):63-70
七自由度球头开孔机器人结构优化研究
Research on structural optimization of 7-DOF ball head opening robot
  
DOI:10.7511/dllgxb201901009
中文关键词: 七自由度  开孔机器人  工作空间  尺寸优化  性能指标分析
英文关键词: 7-DOF  opening robot  workspace  size optimization  performance index analysis
基金项目:工信部智能制造专项(财建(2017)373号);工信部高技术船舶专项(工信部联装函(2016)545号).
作者单位
徐鹏,富威,陈艳龙,肖凯元,薛睿  
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中文摘要:
      为解决某装备球头开孔作业存在的问题,提出了一套七自由度串联开孔机器人设备方案,根据其D-H运动学模型进行运动学分析并检验了机器人的工作空间.根据机器人的静刚度、速度以及最大工作空间距离指标,构建了机器人的多目标尺寸优化模型;利用少控制参数的多目标粒子群优化算法对模型进行求解.最终结果表明,在取前臂尺寸为0.958 m,后臂尺寸为0.965 m时,相较于尺寸优化前,机器人的静刚度全域指标提升了60.05%,速度综合全域指标提高了3.1%,最大工作空间距离指标增加了6.4%.
英文摘要:
      In order to solve the problem of opening a hole on the ball head of certain equipment, a set of 7-DOF tandem opening robot equipment program is proposed. Based on its D-H kinematics model kinematic analysis and inspection of the robot′s workspace are conducted. According to the static stiffness, speed and maximum workspace distance of the robot, the multi-objective size optimization model of the robot is constructed. The multi-objective particle swarm optimization algorithm with less control parameters is used to solve the model. The final results show that when the forearm size is 0.958 m and the reararm size is 0.965 m, compared to the size before optimization, the robot′s static stiffness global index increases by 60.05%, the speed comprehensive global index increases by 3.1%, the maximum workspace distance index increases by 6.4%.
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