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基于時(shí)間最短的沖壓機(jī)器人軌跡規(guī)劃

發(fā)布時(shí)間:2018-11-23 11:04
【摘要】:針對(duì)一種4自由度串聯(lián)沖壓機(jī)器人的自動(dòng)上下料過(guò)程,在機(jī)器人的初始位姿與目標(biāo)位姿已知,而運(yùn)動(dòng)時(shí)間和路徑不確定的前提下,以最大限度提高機(jī)器人工作效率為目標(biāo),以工程實(shí)際中關(guān)節(jié)驅(qū)動(dòng)力、驅(qū)動(dòng)速度和工藝過(guò)程為約束條件,進(jìn)行了單工作周期時(shí)間最短優(yōu)化研究。首先采用D-H參數(shù)法建立機(jī)器人的連桿坐標(biāo)系,列出關(guān)節(jié)變換矩陣和運(yùn)動(dòng)學(xué)方程,通過(guò)微分變換法求出機(jī)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(dá)式;然后以時(shí)間為參數(shù),運(yùn)用5次多項(xiàng)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(yùn)動(dòng)時(shí)間,從而生成各關(guān)節(jié)運(yùn)動(dòng)軌跡,并且進(jìn)行了對(duì)比實(shí)驗(yàn)。結(jié)果表明,該軌跡規(guī)劃方法能有效地縮短沖壓機(jī)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(xué)機(jī)械工程與自動(dòng)化學(xué)院;
【基金】:國(guó)家自然科學(xué)基金資助項(xiàng)目(51505344)
【分類(lèi)號(hào)】:TP242

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