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| 七自由度潜艇球头开孔机器人结构优化研究 |
| Study on Structural Optimization of Open-end Robot with 7 Degrees of Freedom Submarine |
| 投稿时间：2018-07-05 修订日期：2018-08-21 |
| DOI： |
| 中文关键词: 七自由度 切割机器人 工作空间 尺寸优化 性能指标分析 |
| 英文关键词: seven degrees of freedom cutting 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） |
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| 中文摘要: |
| 为解决潜艇球头开孔作业存在的问题,文章提出了一套七自由度串联切割机器人设备方案,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骨干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0.958m,后臂尺寸为0.965m时。相较于尺寸优化前,机器人的静刚度全域性能指标提升了60.05%；速度全域综合性能指标提高了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 problems existing in the opening operation of submarine ball head, this paper proposes a set of 7-DOF tandem cutting robot equipment program, according to its D-H kinematics model for kinematic analysis and inspection of the robot"s working space. According to the static stiffness, speed and maximum working 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 0.958m and the rear arm size is 0.965m, compared to the size optimization, the static performance of the robot"s static stiffness has increased by 60.05%; the speed global comprehensive performance index has increased by 3.1%.; the maximum working space distance index increased by 6.4%. |
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