Method and system for internal force optimization of redundant drive parallel robot based on multi-objective fusion

A technology of a robot system and an optimization method, applied in the field of optimal control of redundant drive parallel robots, can solve problems such as the inability to achieve multi-objective fusion optimization of redundant drive parallel robot internal force optimization, etc., to eliminate transmission gaps, reduce power loss, and improve operation. The effect of precision

Active Publication Date: 2021-08-31
NORTH CHINA UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

[0004] In order to solve the above-mentioned problems in the prior art, that is, the existing method cannot realize the internal force optimization of redundantly driven parallel robots optimized by multi-objective fusion, the present invention provides a multi-objectively fused redundantly driven parallel robot internal force optimization method, The method includes:

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  • Method and system for internal force optimization of redundant drive parallel robot based on multi-objective fusion
  • Method and system for internal force optimization of redundant drive parallel robot based on multi-objective fusion
  • Method and system for internal force optimization of redundant drive parallel robot based on multi-objective fusion

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[0056] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, not to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0057] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0058] The invention provides a multi-objective fusion redundant drive parallel robot internal force optimization method, aiming at a redundant drive parallel robot with a drive redundancy of 1, it is proposed to use a redundant drive parallel robot based on the dynamic model of the ...

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Abstract

The invention belongs to the field of optimization control of redundant-driven parallel robots, and specifically relates to a multi-objective fusion redundant-driven parallel robot internal force optimization method and system, aiming to solve redundant-driven parallel robots that cannot achieve multi-objective fusion optimization in existing methods The problem of internal force optimization. The invention includes: constructing a Lagrangian dynamics model of a redundantly driven parallel robot and projecting it to the configuration space; for a robot with a driving redundancy of 1, combining the desired control torque vector of the robot system to obtain a control torque vector optimization model; Build a multi-objective fusion internal force optimization model, and solve the control torque vector optimization model; based on the solved optimal internal force parameters, perform robot internal force optimization. The invention realizes the stable and reliable operation of the redundantly driven parallel robot, eliminates the transmission gap, improves the operation precision, reduces the power loss of the driver, and realizes the high-level application of the parallel robot in engineering practice.

Description

technical field [0001] The invention belongs to the field of optimization control of redundant-driven parallel robots, and in particular relates to a method and system for optimizing the internal force of redundant-driven parallel robots with multi-object fusion. Background technique [0002] Redundant-driven parallel robots have broad application prospects in bionic robots, rehabilitation robots, surgical robots, (cameras, precision instruments) installation platforms and other fields. Redundantly driving a parallel robot can eliminate or reduce the singularity of the parallel mechanism, expand its working space, improve the torque transfer performance of the robot, optimize the load distribution among the drives, and increase the payload. However, during the operation of the robot, the parallel mechanism will generate internal force. If the internal force is too large, it will cause damage to the mechanism. If the internal force is too small, it will affect the performance...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/163B25J9/1643
Inventor 梁旭苏婷婷何广平范亚南赵磊赵全亮黄灿张萌颖章杰
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY
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