基于综合性能指标的铝合金浇铸机器人的尺寸优化

摘要

An optimization model,which comes from the aluminum-alloy casting robot designed for a famous auto-parts works,is presented here,based on the integrated performance index of velocity and acceleration, constraints of stiffness and workspoce.The optimization model is solved with the GADS toolbox of MATLAB.According to the optimized result,two 3D models are built in Pro/E and simulated in ADAMS.According to the simulation, the integrated performance index of velocity and acceleration has been improved.The results of the simulation verifies that the optimization is correct, as well as the integrated performance index of velocity and acceleration.%在为国内某一知名汽配厂家设计的铝合金轮毂浇铸机器人基础上,结合其在生产过程中的性能要求,对速度/加速度综合性能指标及刚度、工作空间约束条件进行了分析,建立尺寸优化模型,并利用MATLAB自带GADS遗传算法工具包对其进行优化计算.根据优化计算结果,修改机器人机构尺寸,并分别建立优化前后的机器人虚拟样机模型,利用ADAMS软件进行仿真对比,发现机器人的速度加速度性能得到改良,验证了优化结果,也印证了提出的六自由度串联机器人的速度/加速度综合性能指标的正确性.