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A vibration prediction method of manipulator based on GA-ELM

A prediction method, manipulator technology, applied in gene models, genetic rules, computer-aided design, etc., can solve the problems of manipulator position control or force control accuracy reduction, affecting the service life of the structure, stimulating system resonance, etc.

Pending Publication Date: 2018-12-25
GUIZHOU UNIV
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  • Claims
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AI Technical Summary

Problems solved by technology

[0004] Die-casting mold pick-up manipulator (manipulator model such as figure 1 Shown) During operation, there will always be vibration, which will greatly reduce the accuracy of position control or force control of the manipulator, and may stimulate system resonance and affect the service life of the structure

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Embodiment 1

[0019] Embodiment 1: a kind of manipulator vibration prediction method based on GA-ELM, this method comprises the following steps:

[0020] (1) The structure of the die-casting mold pick-up manipulator is relatively complicated, so the manipulator is reasonably simplified during modeling. On the one hand, it is convenient for analysis and calculation during simulation, and on the other hand, it is necessary to ensure that the main structural mechanical properties of the original analysis object do not occur. Big change. Through the top-down design method, UG is used to establish a parametric driven model for the die-casting mold pick-up manipulator;

[0021] (2) Import the 3D model of the manipulator into the ANSYS finite element software, such as figure 1 The three-dimensional model shown, uses the transient dynamic characteristic module in the ANSYS finite element software for transient analysis, and performs multiple analyzes by setting different workpiece gravity, inertia...

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Abstract

The invention discloses a vibration prediction method of a manipulator based on GA-ELM. The method comprises the steps: modeling is performed, importing the model into ANSYS software is performed to analyze the transient dynamic characteristics, the maximum deformation of vibration under different input conditions is obtained, The samples of training set are obtained, normalized, GA-optimized ELMmodel is used to find the chromosomes with the minimum fitness value, as the optimal initial w and b, the optimal individual is assigned to the ELM model, the model is established, the samples of testset are compared, and the model precision is evaluated. The invention combines genetic algorithm (GA) and GA of extreme learning machine (ELM) through ANSYS simulation analysis. ELM model is used topredict the vibration of manipulator under different influence factors, which provides a theoretical basis for the optimization of manipulator design.

Description

technical field [0001] The invention relates to a method for predicting vibration of a manipulator based on GA-ELM. Background technique [0002] In recent years, with the wide application of manipulators in industrial production and manufacturing processes, the demand for manipulators has increased year by year. While manipulators are gradually becoming lighter in weight, the requirements for the working accuracy and overall stability of manipulators are becoming more and more stringent. At this time, the vibration problem of the manipulator is particularly critical. Vibration is a major disadvantage in the field of robot motion. Larger vibrations will have a serious impact on the mechanical structure. Working for a long time will be detrimental to system performance and positioning accuracy. Therefore, technicians must have a preliminary analysis and prediction of the vibration of the manipulator in the stage of designing the manipulator. However, there are many factors ...

Claims

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Application Information

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IPC IPC(8): G06F17/50G06N3/12
CPCG06N3/126G06F30/23G06F2119/06
Inventor 梅益宋沛毅陈丽娅杨幸雨郭天水
Owner GUIZHOU UNIV
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