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针对小型串联机器人的工作空间结构参数问题,提出了基于旋转截面积和截面能耗指标的机械臂结构优化方法。该方法在现有的串联机器人机构基础上,运用同步带传动特点,将各关节处的驱动电机安装在机器人下部机箱座中。在最大回转半径不变的情况下,利用遗传算法优化机械臂的相关参数,优化后机器人旋转截面的臂长长度相应地减少;截面能耗降低;工作空间相对增大;机器人结构紧凑。试验结果表明该优化方法可行有效。
In view of the structural parameters of working space of small tandem robot, a method to optimize the structure of manipulator based on rotating cross-sectional area and energy consumption index is proposed. Based on the existing tandem robot mechanism, the method utilizes the synchronous belt transmission feature to mount the driving motor at each joint in the lower chassis of the robot. Under the condition of the maximum radius of gyration, genetic algorithm is used to optimize the parameters of the robot arm. The length of the arm length of the rotating robot after the optimization is reduced correspondingly; the energy consumption of the cross section is reduced; the working space is relatively enlarged; the robot is compact in structure. The experimental results show that the optimization method is feasible and effective.