新型可控变胞式码垛机器人机构动态优化

发布时间：2018-08-19 14:19

【摘要】：变胞机构发生构态变换时,不可避免地会造成冲击,严重时将导致系统失稳。因此需要对变胞机构进行动力学优化研究,降低变胞机构构态变换时受到的冲击力,提高变胞机构的动态稳定性,对变胞机构在实际应用中的推广至关重要。以面向任务可控变胞式码垛机器人机构系统为研究对象,在实际运行下机构系统在单自由度和两自由度构态变换时的全构态非线性动态模型的基础上,考虑机构属性、材料参数、控制参数以及内冲击激励对机构系统动态性能的影响,运用遗传算法对系统进行动力学优化,先后针对系统的机构属性和材料参数建立了参数优化数学模型,运用遗传算法对系统进过优化计算,提高了系统的动力学性能。
[Abstract]:The structure transformation of metamorphic mechanism will inevitably cause shock, and will lead to instability of the system when it is serious. Therefore, it is necessary to optimize the dynamics of metamorphic mechanism, reduce the impact force of metamorphic mechanism, and improve the dynamic stability of metamorphic mechanism, which is very important for the popularization of metamorphic mechanism in practical application. Taking the task-oriented controllable variable cell palletizing robot system as the research object, the mechanism properties are considered on the basis of the full-structure nonlinear dynamic model of the mechanism system in the single-degree of freedom and two-degree-of-freedom structural transformation under the actual operation. The effects of material parameters, control parameters and internal shock excitation on the dynamic performance of the mechanism system are studied. Genetic algorithm is used to optimize the dynamics of the system. A mathematical model of parameter optimization is established for the mechanical properties and material parameters of the system. Genetic algorithm is used to optimize the system, and the dynamic performance of the system is improved.
【作者单位】：广西大学机械工程学院轻工与食品工程学院;桂林理工大学机械与控制工程学院;
【基金】：国家自然科学基金资助项目(51265003) “广西高等学校优秀中青年骨干教师培养工程”资助项目
【分类号】：TH112;TP242

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