Scale synthesis method of five-degree-of-freedom hybrid robot for round steel end-face labeling

Abstract

The scale synthesis method of the five-DOF hybrid robot for round steel end labeling includes the following steps: determine the optimization parameters and establish the optimization vector according to the mechanism configuration; regard the hybrid robot as a series mechanism as a whole, and use the differential change method to solve the Jacobian matrix, The parallel mechanism is regarded as a series joint, and its Jacobian matrix is ​​solved by the differential transformation method, and it is brought into the corresponding column of the Jacobian matrix of the hybrid mechanism to establish the Jacobian matrix of the hybrid mechanism; the global kinematic performance of the hybrid mechanism is established Index; establish the global stiffness performance index of the hybrid mechanism; establish the global transmission performance index of the mechanism; use the kinematics, stiffness and transmission performance indexes as the optimization objective function, and use the Monte Carlo method to unify the mechanism position parameters in the objective function; use pareto The frontier method uses a non-dominated sorting genetic algorithm with an elite retention strategy to find the optimal value of the objective function and obtain the optimal size, which effectively solves the scale synthesis problem of the hybrid mechanism.

Description

technical field [0001] The invention relates to a scale synthesis method of a five-degree-of-freedom hybrid robot for labeling round steel end faces, and belongs to the technical field of hybrid robots. Background technique [0002] Hybrid mechanism has the advantages of both series mechanism and parallel mechanism, and has broad application space in aerospace, medical equipment, industrial production and other fields. Scale synthesis is an important part of hybrid robot design. The mechanical performance of hybrid robots varies greatly at different scales. Good scale parameters can give full play to the performance advantages of hybrid mechanisms. Therefore, it is of great significance to perform scale synthesis on hybrid mechanisms. The commonly used methods of scale synthesis are performance map method and objective function method: the principle of performance map method is to reduce the number of parameters, express the relationship between performance indicators and pa...

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Problems solved by technology

[0003] At present, there are a lot of scale-synthesis related research on series mechanism or parallel mechanism, but the scale-synthesis research on hybrid mechanism is extremely limited, and the hybrid mechanism is decomposed into series mechanism and parallel mechanism, and the scale is synthesized separately, such as patent CN201710616947.9 It is a scale synthesis centering on the parallel mechanism in the hybrid mechanism. While the hybrid mechanism has the advantages of both the series mechanism and the parallel mechanism, it inevitably includes the research difficulties of both. The main reason is that the scale synthesis using the objective function method involves The Jacobian matrix of the mechanism, and there are few related studies on the Jacobian matrix of the hybrid mechanism, and the Jacobian matrix contains the terminal position information of the hybrid mechanism and the terminal position information of the parallel mechanism. Due to the difficulty of reverse solution of the series mechanism and the difficulty of the forward solution of the parallel mechanism, The objective function is difficult to establish through unified parameters, so it is very difficult to synthesize the scale of the hybrid robot as a whole

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