【摘要】：針對一種4自由度串聯(lián)沖壓機器人的自動上下料過程,在機器人的初始位姿與目標位姿已知,而運動時間和路徑不確定的前提下,以最大限度提高機器人工作效率為目標,以工程實際中關(guān)節(jié)驅(qū)動力、驅(qū)動速度和工藝過程為約束條件,進行了單工作周期時間最短優(yōu)化研究。首先采用D-H參數(shù)法建立機器人的連桿坐標系,列出關(guān)節(jié)變換矩陣和運動學方程,通過微分變換法求出機器人的雅克比矩陣,采用牛頓-歐拉法得出各關(guān)節(jié)力矩的表達式;然后以時間為參數(shù),運用5次多項式擬合關(guān)節(jié)位移變化軌跡;最后采用二分法求解滿足各關(guān)節(jié)速度約束和力(矩)約束的最優(yōu)運動時間,從而生成各關(guān)節(jié)運動軌跡,并且進行了對比實驗。結(jié)果表明,該軌跡規(guī)劃方法能有效地縮短沖壓機器人的工作周期。
[Abstract]:In view of the automatic loading and unloading process of a 4-DOF series punching robot, when the initial pose and the target pose of the robot are known and the movement time and path are uncertain, the goal is to maximize the working efficiency of the robot. Based on the constraints of joint driving force, driving speed and technological process in engineering practice, the shortest time optimization of single working cycle is studied. Firstly, D-H parameter method is used to establish the coordinate system of the robot connecting rod, the joint transformation matrix and kinematics equation are listed, the Jacobian matrix of the robot is obtained by differential transformation method, and the expressions of the joint moments are obtained by Newton-Euler method. Then with time as the parameter, the fifth degree polynomial is used to fit the trajectory of joint displacement. Finally, the optimal motion time satisfying the velocity constraint and the force (moment) constraint of each joint is solved by using the dichotomy method, and the motion trajectory of each joint is generated, and a comparative experiment is carried out. The results show that the trajectory planning method can effectively shorten the working period of stamping robot.
【作者單位】： 武漢紡織大學機械工程與自動化學院;
【基金】：國家自然科學基金資助項目(51505344)
【分類號】：TP242

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