摘要
为了提高三自由度支链嵌套并联机器人工作单元的工作效率,结合最短运动时间轨迹规划理论对其布局进行优化。首先利用最短运动时间轨迹规划理论对机器人关节进行轨迹规划;其次在满足机器人与周边设备位置约束以及避免发生碰撞的基础上,将机器人的总运动时间和耗能综合最优作为目标建立布局优化模型;最后求解得出合理的布局方案。实验结果表明,优化后机器人的总运动时间缩短了44.7%,耗能减少,提高了工作效率。
In order to improve the efficiency of the workcell of a 3-DOF parallel robot with limbs of embedding structures, this paper combines a path planning theory based on the shortest motion time to optimize the layout. Firstly, a path planning theory based on the shortest motion time is used to plan the trajectory in joint-space. Secondly, the layout optimization model is established on the basis of satisfying the constraints and avoiding the collision to optimize the total time and energy consumption. Finally, a reasonable layout plan is obtained. T＂ ~ simulation results show that the total motion time is reduced by 44.7%, the energy consumption is reduced and working efficiency of the robot workcell is improved as well.
出处
《机械设计与研究》
CSCD
北大核心
2017年第6期6-9,14,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(51175144)
河北省科技计划资助项目(15211829)
关键词
支链嵌套并联机器人
布局优化
轨迹规划
运动时间
耗能
parallel robot with limbs of embedding structures
layout optimization
trajectory planning
motiontime
energy consumption
