摘要
随着模块化机器人的技术日趋成熟,它的优化设计问题也越来越受到重视。以轻型串联式回转关节操作臂为研究对象,提出了一种以改变各个模块组合的方式和顺序为主的优化设计方法。该方法首先对建立所使用模块的数据库;之后基于给定DH参数生成操作臂所有可行的装配形式表示数组,并基于所建立的数据库使用拉格朗日方程法建立操作臂的显式动力学模型;最后对模块化串联操作臂的组合形式进行优化设计。给出了1个算例,对计算结果的分析证明了所提出方法的有效性。
The optimal design issue of modular manipulators is more and more paid attentions as modular manipulator technology matures. An optimal design method is proposed, whose main idea is based on alternation of the combination order and method of modular, for lightweight robot manipulators with rotary joint in series. The design method follows these steps： firstly establishes data bases of used modular are built; secondly an assembly form generation method based on given the DH coefficient is applied to get cdl feasible assembly arrays, and dynamics model to the manipulators is established based on the built data bases by using the lagrange equation; finally an optimization design of the manipulators is carried out to get the optimal result of the modular combination method. An example is given and the result convinces the effectiveness of the proposed method.
出处
《机械设计与制造》
北大核心
2014年第1期154-156,160,共4页
Machinery Design & Manufacture
