基于能量法的重载码垛机器人重力平衡分析与设计

摘要

In the process of heavy load palletizing robot work,large swing arm drooping frequent cause the motor to overcome the gravitational potential energy work constantly which leads to the motor torque fluctuation and huge invalid work.These affect the service life of motor drive and parts costs increasing.In this article from the perspective of energy balance,of arm can drive the movement of the coupling relationship between many parts are analyzed in detail ,balance device when the stored elastic energy change in gravitational poten-tial energy of release or storage is designed so as to achieve the gravitational potential energy balance complete-ly,and implement all the energy of the motor drive is used to transfer the motion of the moving parts,avoid the gravitational potential energy of irrational consumption.Finally Lagrange equation and general expression of gravity balance optimization algorithm are obtained.%在重载码垛机器人的工作过程中，大臂的频繁上升摆动使得电机要不断克服重力势能做功，导致电机扭矩出现波动和克服重力导致驱动能量的耗散，这将影响电机和驱动器的寿命，造成零部件成本提高。从能量平衡的角度，详细分析大臂驱动的众多零部件之间的运动耦合关系，设计并分析平衡装置存储弹性势能在重力势能发生变化时的释放或存储，从而达到重力势能完全平衡，实现电机驱动的能量全部用于运动部件的动能传递，避免重力势能的无端消耗。最后采用拉格朗日方程得出重力平衡的通用表达式和优化算法。