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: 2010-12-29
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 optimal design parameters of a three-degree-of-freedom transporting industrial robot, wherein the three-degree-of-freedom transporting industrial robot comprises: a first mechanical arm (1), a second mechanical arm (2) and a third mechanical arm (3), the two ends of the second mechanical arm (2) are rotationally connected with one end of the first mechanical arm (1) and one end of the third mechanical arm (3) respectively, and it is characterized in that the acquisition method of the multi-objective optimization design parameters includes The following steps:

[0232] Step 1 First, establish the link coordinate system of the three-degree-of-freedom manipulator, such as figure 1 shown; from the kinematics equation of the manipulator, the trajectory of the end working point can be obtained as Let the range of each rotation angle be designed as -π≤θ 1 ≤π, -π≤θ 2 ≤π, -π≤θ 3 ≤π, the working space of the manipulator is a cluster ...

Embodiment 2

[0416] The basic design requirements for a 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 R max =1.5, minimum radius R min =0.2 of the part between the two balls (unit: m). The maximum load required to be transported is 25kg. On this basis, it is required to maximize the working space, meet the material requirements for strength, and optimize the energy and time performance of the manipulator control process.

[0417] For the three-degree-of-freedom handling robot in this design, through the analysis of the third chapter, 12 parameters representing the mechanical design parameters and the performance parameters of the reaction motor are determined as the design variables of the whole design process. At the same time, for the mechanical parameter l of the mechanical arm 1 1 , R 1 、r 1 , and the lumen parameter h of manipulators 2 and 3 2e , b 2e 、h 3e , b 3e ...

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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 toestablish 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 optimization of a complex system, its main characteristics are: Since complex engineering systems usually contain several subsystems with specific functions, the systems and subsystems have their own corresponding design goals. , design parameters and constraints, and due to the complex coupling relationship between subsystems, the design process of complex engineering systems has become a multi-objective optimization decision-making process of multi-disciplinary cross-synthetic design. A large system composed of optimal components and subsystems is not necessarily the system with the best overall performance. Therefore, th...

Claims

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Application Information

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