4自由度含局部闭链式码垛机器人动力学优化设计

Optimal Dynamic Design of 4-DOF Palletizing Robot with Closed-chain

摘要:

提出一种4自由度含局部闭链式码垛机器人动力学优化设计方法。在建立其刚体动力学模型的基础上，提出在目标轨迹及确定运动规律下，以机器人大臂与小臂关节驱动力矩基于目标轨迹上的最大值最小作为动力学优化目标。在此基础上，构造有约束的多目标优化问题，并利用理想点法将该多目标优化问题转化成单目标优化问题加以解决。工程实例证明利用所提方法优化后得到的机器人尺度参数，能够使机器人在目标轨迹上的动力学性能明显改善，大臂与小臂关节驱动力矩峰值降幅分别为9.782%和8.207%，说明优化方法合理、有效。

Abstract:

An approach was proposed for the optimal dynamic design of a 4-DOF palletizing robot with closed-chain. On the basis of rigid body dynamic model, a dynamic optimization objective was proposed to minimize the maximum driven torque based on target trajectory and determined motion law. Based on this, a multi objective planning problem under certain constraining condition was constructed and then through shortest distance ideal point method converted to single-objective optimization problem. An example revealed that the robot’s dynamic performance was great improved by optimizing the robot’s scale parameter. The decreasing range of upper and lower arm’s joint torque peak were 9.782% and 8.207% respectively, which show that the optimal dynamic design method is reasonable and effective.