摘要
针对工业机器人弹簧平衡缸的参数变化对工业机器人的不平衡力矩的影响,对其参数进行了相关的实验与测试。为提高工业机器人的工作性能与效率,对平衡缸参数造成的不平衡力矩的影响进行了分析及优化。在工业机器人重力参数和结构参数研究与测试的基础上,推导出工业机器人的不平衡力矩,得出各个参数对不平衡力矩的影响,以及机器人的运动学、动力学特性。构造参数相应的的约束条件和目标函数的非线性约束条件,结合多目标函数优化模型并对工程实例进行优化。最后,对优化前与优化后的结果进行了对比分析,得到了相应的优化效果。实验结果表明:优化结果满足实验要求;优化后,不平衡力矩的最大值降低,机器人运动更加稳定;优化系统具有有效性和实用性。
In view of the relevent experiments and tests on the industrial robot spring balance cylinder,the change of its paraments has a big impact on the unbalanced moment of industrial robot. In order to improve the working performance and efficiency of industrial robots,the influence of parameters on the unbalanced moment balance cylinder was analyzed and optimized. Based on researching and testing the gravity parameters and structure parameters of the industrial robot,the unbalanced moment of industrial robots was deduced. It was obtained that the various parameters were exercised of a great influence on the unbalanced moment,as well as kinematics and dynamics characteristics of the robot. By structuring parameters of related constraint condition and the objective function of nonlinear constraints,the engineering example was optimized by combined the multiple objective function optimization model. Lastly,the results before and after optimization were analyzed in comparing to obtain related optimal effects. The experimental results show that the optimization results meet the experimental requirements. After optimization,the maximum unbalanced moment is reduced,and the robot movement is more stable.The optimizing system has the effectiveness and practicability.
出处
《机床与液压》
北大核心
2016年第11期19-23,共5页
Machine Tool & Hydraulics
基金
辽宁省科技创新重大专项(201302001)
关键词
工业机器人
弹簧平衡缸
不平衡力矩
MATLAB
多目标函数优化
Industrial robots
Spring loaded balance cylinder
Unbalanced torque
MATLAB
Multi-objective function optimization
