摘要
针对机械臂在打磨作业中工作效率过低、能耗过大和因冲击过大导致关节振动影响打磨质量问题,提出了一种机械臂综合指标最优的打磨轨迹规划方法。采用5次非均匀B样条曲线来构造机械臂的运动轨迹模型,以串联机械臂运行时间、脉动冲击和总能耗为目标函数建立约束模型,通过改进的多目标粒子群算法进行优化设计并获得Pareto最优前沿,最后使用归一加权目标函数获取最优解,选择ER8-720型串联机械臂作为仿真对象。结果表明,5次非均匀B样条曲线能够很好地构建平滑稳定的打磨轨迹,改进的多目标粒子群优化算法能够实现时间-冲击-能耗的多目标优化,运行效率提高了约13%,冲击降低22.7%,能耗降低37.1%,并且优化效果优于MOPSO和NSGA-Ⅱ算法,为后续打磨轨迹研究提高了新的思路。
Aiming at the problems of low working efficiency,excessive energy consumption and joint vibration affecting grinding quality caused by excessive impact,a grinding trajectory planning method with optimal comprehensive index of mechanical arm was proposed.The kinematic trajectory model of the manipulator was constructed by using the 5th-order non-uniform B-spline curve,and the constraint model was established by taking the running time,pulsation impact and total energy consumption of the serial manipulator as the objective functions.The optimized design was carried out by the improved multi-objective particle swarm optimization algorithm and Pareto optimal frontier was obtained.Finally,the optimal solution was obtained by using the normalized weighted objective function.The ER8-720 series manipulator was selected as the simulation object.The results show that the 5-order non-uniform B-spline curve can construct smooth and stable grinding trajectory well,and the improved multi-objective particle swarm optimization algorithm can achieve the multi-objective optimization of time-impact-energy consumption,with the operation efficiency increased by about 13%,impact reduced by 22.7%,and energy consumption reduced by 37.1%,and the optimization effect is better than MOPSO and NSGA-Ⅱalgorithms.It raises a new idea for the subsequent research of grinding trajectory.
作者
郭北涛
金福鑫
刘瀚齐
刘磊
张丽秀
GUO Beitao;JIN Fuxin;LIU Hanqi;LIU Lei;ZHANG Lixiu(School of Mechanical and Power Engineering,Shenyang University of Chemical Technology,Shenyang 110142,China;School of Transportation and Mechanical Engineering,Shenyang Jianzhu University,Shenyang 110168,China)
出处
《组合机床与自动化加工技术》
北大核心
2025年第5期183-188,共6页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金项目(51375317)
沈阳市科技计划项目(F16-228-6-00)。
关键词
打磨轨迹规划
多目标优化
多目标粒子群算法
5次非均匀B样条曲线
grinding trajectory planning
multi-objective optimization
multi-objective particle swarm optimization
5th-order inhomogeneous B-spline curve
