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Method for change processing of multi-field design supporting collaborative design of five-link robot

A five-link robot, design change technology, applied in the direction of instruments, adaptive control, control/adjustment systems, etc., can solve the problems of unable to obtain better design solutions, unable to solve design conflicts, etc.

Active Publication Date: 2015-04-01
ZHEJIANG UNIV
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  • 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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  • Method for change processing of multi-field design supporting collaborative design of five-link robot
  • Method for change processing of multi-field design supporting collaborative design of five-link robot
  • Method for change processing of multi-field design supporting collaborative design of five-link robot

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Embodiment Construction

[0079] 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.

[0080] The motion track of point c of the five-linkage robot in this embodiment is as follows,

[0081] x p =-0.1+0.1cos(1.2566t);

[0082] the y p =0.3+0.1sin(1.2566t);

[0083] Among them, t is time.

[0084] 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 method for change processing of a multi-field design supporting collaborative design of a five-link robot. The method comprises the following steps of firstly, determining change schemes of the field of a current design change; computing a change difference of each field according to each change scheme, an initial design scheme of the five-link robot and a design target function in each field; judging whether each change scheme is valid according to the change difference, and abandoning the invalid change schemes; if the number of the residual change schemes is zero, quitting the current design change processing; otherwise, solving an optimal design scheme of the current design change according to the number of the residual change schemes, carrying out design change according to the optimal design scheme or ending the current design change processing. According to the method, the total design quality of a system is optimal and the change differences of different fields are considered coordinately, so that the multi-field design conflict is avoided, the problem of design conflict in the collaborative design of the five-link robot is effectively avoided, the design repetition is reduced, and the design efficiency is improved.

Description

technical field [0001] The invention relates to the field of mechanical design, in particular to a multi-field design change processing method supporting collaborative design of five-link robots. 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 potentia...

Claims

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Application Information

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IPC IPC(8): G05B13/00
Inventor 刘玉生樊红日
Owner ZHEJIANG UNIV
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