一种三自由度冲压搬运机械手的尺度综合
发布时间：2018-10-13 20:40
【摘要】：设计了一种用在管材冲压线上,代替人工完成上、下料动作的三自由度冲压搬运机械手,对该机械手进行工作空间求解和优化设计,以运动学、动力学性能指标为目标函数,以工作空间和静刚度指标为约束条件,以杆件参数和拉簧参数为设计变量,建立机械手的多目标优化模型。用非支配排序遗传算法(Non-dominated Sorting Genetic Algorithm-Ⅱ,NSGA-Ⅱ)求解多目标优化模型,在Pareto最优解集中优先选择降低电动机2极限力矩的解,且所选解不能大幅削弱其他性能指标。将所选解代入运动学、动力学方程中进行理论计算,结果表明,优化后机械手的运动学、动力学性能指标均有了一定程度的改善,为结构设计和运动控制提供了依据。
[Abstract]:In this paper, a three degree of freedom stamping handling manipulator which is used in the tube stamping line instead of manual operation is designed. The workspace of the manipulator is solved and optimized. The kinematics and dynamics performance index is taken as the objective function. The multi-objective optimization model of manipulator is established by taking workspace and static stiffness index as constraint conditions and taking rod and spring parameters as design variables. Non-dominated Sorting Genetic Algorithm- 鈪，
本文编号：2269829
[Abstract]:In this paper, a three degree of freedom stamping handling manipulator which is used in the tube stamping line instead of manual operation is designed. The workspace of the manipulator is solved and optimized. The kinematics and dynamics performance index is taken as the objective function. The multi-objective optimization model of manipulator is established by taking workspace and static stiffness index as constraint conditions and taking rod and spring parameters as design variables. Non-dominated Sorting Genetic Algorithm- 鈪，
本文编号：2269829
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