一种考虑柔性的码垛机器人动力学性能优化方法

摘要

提出一种考虑关节柔性影响的高速重载码垛机器人动力学性能优化方法。首先，考虑关节柔性的影响，建立了刚柔耦合动力学方程；随后进行了模态分析以及受迫振动分析；提出以最低阶固有频率最大和各关节驱动力矩基于目标轨迹上的最大值最小作为动力学优化目标；最后构造有约束的多目标优化问题，并利用遗传算法对该多目标优化问题进行求解。优化结果表明，机器人的动力学性能明显改善，说明优化方法合理有效。%Considering the impact of flexible joint,a method for dynamics optimization design of high speed,heavy load palletizing robot is pres-ented.Firstly,the flexible dynamics model is es-tablished and dynamics simulation is carried out. Next,Modal Analysis and forced vibration analysis is followed.The first natural frequency and the maximum joint driving torque based on the target trajectory are selected as dynamic optimization goals and a multi objective optimization model is established,which is solved by NSGA II genetic algorithm.Optimization results showed that:The dynamics performance of the robot is significantly improved,indicating that the optimization method is reasonable and effective.