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Single domain design change processing method supporting collaborative design of five-link robot

A five-link robot, design change technology, applied in electrical digital data processing, special data processing applications, instruments, etc., can solve problems such as inability to obtain better design solutions and inability to resolve design conflicts

Active Publication Date: 2017-06-20
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current design change processing method only selects from existing design changes, cannot obtain a better design solution, and cannot resolve design conflicts

Method used

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  • Single domain design change processing method supporting collaborative design of five-link robot
  • Single domain design change processing method supporting collaborative design of five-link robot
  • Single domain design change processing method supporting collaborative design of five-link robot

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Embodiment Construction

[0065] The five-link robot is a typical electromechanical product with a structure such as figure 1 As shown, it includes five connecting rods, which are connecting rod l 1 , connecting rod l 2 , connecting rod l 3 , connecting rod l 4 and connecting rod l 5 , where the connecting rod l 1 and connecting rod l 2 Driven by the actuator (namely, the motor), the system control goal is to make point c move according to a predetermined trajectory, where the x-axis and y-axis are the reference coordinate systems of the motion trajectory.

[0066] The motion track of point c of the five-linkage robot in this embodiment is as follows,

[0067] x p =-0.1+0.1cos(1.2566t);

[0068] the y p =0.3+0.1sin(1.2566t);

[0069] Among them, t is time.

[0070] right figure 1 The shown five-link robot includes 37 design variables, including 33 variables in the mechanical domain and 4 variables in the control domain. The design variables include the mechanical structure parameter vector ...

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Abstract

The invention discloses a single-field design change processing method supporting collaborative design of a five-link robot. First, the change plan for the current design change is determined, and a candidate design plan is formed according to the change plan; then, for each field, according to five The initial design scheme and candidate design scheme of the linked robot determine whether there is a design objective function to be optimized: if it exists, optimize the candidate design scheme to obtain the optimal design scheme; otherwise, directly end the current design change process, or use the above The candidate design scheme is used as the optimal design scheme. After the optimal design scheme is obtained, the optimal design scheme is used to make corresponding design changes to the five-link robot. The invention can optimize the overall design quality of the system, and collaboratively consider the change difference in different fields, thereby avoiding multi-domain design conflicts, effectively avoiding design conflicts in the collaborative design of five-link robots, reducing design repetition, and improving design efficiency. efficiency.

Description

technical field [0001] The invention relates to the field of mechanical design, in particular to a single-domain design change processing method supporting collaborative design of a five-link robot. Background technique [0002] In the collaborative design process of a five-link robot, the design changes proposed by designers in a single field may affect the design goals of other fields, which may easily cause design conflicts and lead to repeated design iterations. Therefore, based on the designer's original design scheme, finding out a relatively optimal alternative scheme plays an important role in avoiding design conflicts and improving design efficiency. Usually designers start from local goals and propose design changes in the mechanical or control domain based on the knowledge structure of a specific domain. Due to the lack of background knowledge in other fields and the lack of participation in design activities in other fields, it is impossible to foresee the poten...

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 刘玉生樊红日
Owner ZHEJIANG UNIV
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