Optimization method, device and equipment for robotic arm design

An optimization method and technology of robotic arms, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as high complexity, great difficulty in collaborative optimization, and large amount of calculation, so as to reduce the impact of barriers and reduce the difficulty of collaborative optimization. , the effect of reducing the amount of calculation

Active Publication Date: 2022-07-19
UBKANG (QINGDAO) TECH CO LTD
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Problems solved by technology

[0004] In view of this, the embodiment of the present application provides a method, device and equipment for optimizing the design of the manipulator to solve the barriers of different algorithms in the collaborative optimization in the prior art when optimizing the design of the manipulator, resulting in a large amount of calculation , problems with high complexity and difficult collaborative optimization

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  • Optimization method, device and equipment for robotic arm design
  • Optimization method, device and equipment for robotic arm design
  • Optimization method, device and equipment for robotic arm design

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Embodiment Construction

[0037] In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0038] In order to illustrate the technical solutions described in the present application, the following specific embodiments are used for description.

[0039] When designing the manipulator arm of the robot for human-robot collaboration, higher requirements are placed on the safety and operability of the manipulator arm, and the dynamic performance, operation spac...

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Abstract

The present application belongs to the field of robotics, and proposes an optimization method, device and equipment for the design of a manipulator. The method includes: determining the design variables, constraints and optimization objectives in the design of the manipulator; establishing a parametric co-simulation model, according to the The co-simulation model is used to determine the influence of the design variables on the optimization objective and the influence of the design variables on the constraints; according to the determined influence relationship, combined with the pre-set target optimization algorithm, the optimization goal that satisfies the constraints is obtained through iteration the corresponding design variables. The relationship between design variables and optimization objectives and constraints is determined through the co-simulation model, so as to effectively reduce the influence of barriers of different algorithms, reduce the complexity of analysis, reduce the amount of calculation, and reduce the difficulty of collaborative optimization.

Description

technical field [0001] The present application belongs to the field of robot design, and in particular relates to an optimization method, device and equipment for the design of a robot arm. Background technique [0002] For the robotic arm of the robot used for human-robot collaboration, the requirements for safety and operability are high. Including such aspects as dynamic performance, operating space, reliability, light weight, sensitivity, safety, etc., it has higher requirements than general robotic arms. In the design process, further optimization design is usually carried out on the basis of realizing basic functions. [0003] The optimization method based on the mathematical model has a wide range of applications in the design of the manipulator of the service robot. For example, an optimization algorithm is used to allocate joint lengths to maximize the operation space, or topology optimization is used to achieve weight reduction. However, due to the different alg...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00B25J9/16
CPCB25J19/007B25J9/1605
Inventor 李景辰丁宏钰范文华
Owner UBKANG (QINGDAO) TECH CO LTD
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