Acquisition method of three freedom-degree transportation industrial robot multiple-objective optimization design parameter

An industrial robot and multi-objective optimization technology, which is applied in the field of acquisition of multi-objective optimization design parameters of three-degree-of-freedom handling industrial robots, can solve problems such as inability to take into account design indicators and affect the overall performance of the system

Inactive Publication Date: 2009-08-19
SOUTHEAST UNIV
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  • Application Information

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Problems solved by technology

However, in the traditional industrial robot design process, the mechanical system, transmission system, and control system are designed separately in sequence, so the upstream subsystem design cannot take into account the design indicators of the downstream subsystem design, and the downstream subsystem design cannot also take into account the upstream subsystem design. The design index, which affects the improvement of the overall performance of the system

Method used

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  • Acquisition method of three freedom-degree transportation industrial robot multiple-objective optimization design parameter
  • Acquisition method of three freedom-degree transportation industrial robot multiple-objective optimization design parameter
  • Acquisition method of three freedom-degree transportation industrial robot multiple-objective optimization design parameter

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Embodiment 1

[0231] 1. A method for obtaining multi-objective optimization design parameters of a three-degree-of-freedom handling industrial robot, the three-degree-of-freedom handling industrial robot comprising: a first mechanical arm (1), a second mechanical arm (2), and a third mechanical arm (3) The two ends of the second manipulator (2) are respectively connected to one end of the first manipulator (1) and one end of the third manipulator (3), which is characterized in that the method for obtaining multi-objective optimization design parameters includes The following steps:

[0232] Step 1 First, establish the linkage coordinate system of the three-degree-of-freedom manipulator, such as figure 1 As shown; from the kinematic equation of the robotic arm, the trajectory of the end working point can be obtained as x 2 + y 2 + ( z - ...

Embodiment 2

[0415] The basic design requirements for the three-degree-of-freedom handling robot are: the working space of the three-degree-of-freedom industrial robot is centered at (0, 0, 1), and the maximum radius is R max =1.5, the minimum radius R min = 0.2 The part between the two balls (unit: m). The maximum load mass required to be handled is 25kg. On this basis, the work space is required to be maximized, the strength meets the material requirements, and the energy and time performance of the robotic arm control process are optimal.

[0416] For the three-degree-of-freedom handling robot in this design, through the analysis in Chapter 3, 12 parameters that characterize the mechanical design parameters and reflect the motor performance parameters are determined as the design variables of the entire design process. At the same time, for the mechanical parameters of the robotic arm 1 1 , R 1 , R 1 , And the inner cavity parameter h of the robot arms 2 and 3 2e , B 2e , H 3e , B 3e Becaus...

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Abstract

The invention relates to a method for multiobjective optimization design of industrial robots, which consists of three steps: firstly, obtaining four performance indexes representing mechanical arm working space, strength, control energy and control time and a computing method thereof through establishment of a mechanical arm kinematics model, a strength analysis model, a dynamic model based on an electromechanical coupling system and a systemic closed-loop model controlled by inverse dynamics; secondly, selectively optimizing robot design parameters related to the four performance indexes to establish a multiobjective optimization design model; and finally, through a control method, adjusting mechanical arm design parameters, optimizing four objectives parallelly, and finally obtaining design values of the design parameters meeting the four performance requirements simultaneously so as to provide a method for overall improving the performance of the industrial robots.

Description

Technical field [0001] The invention relates to a method for obtaining design parameters of a handling industrial robot, in particular to a method for obtaining multi-objective optimization design parameters of a three-degree-of-freedom handling industrial robot. Background technique [0002] Industrial robots are a typical complex system. For the design and optimization of a complex system, its main characteristics are: because a complex engineering system usually contains several subsystems with specific functions, both the system and the subsystem have their own corresponding design goals. , Design parameters and constraints, and at the same time, due to the complex coupling relationship between subsystems, the design process of complex engineering systems has become a multi-disciplinary cross-integrated design multi-objective optimization decision-making process. A large system composed of optimal components and subsystems is not necessarily the system with the best overall p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G06F17/50
Inventor 汪峥陈琦胡佳
Owner SOUTHEAST UNIV
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