华中科技大学学报（自然科学版）Issue(z1)：23-26,4.DOI:10.13245/j.hust.15S1006
基于弹性动力学仿真的码垛机器人动态优化
Dynamic optimization of palletizing robot based on elastic dynamic simulation
摘要
Abstract
To improve whole-process dynamic performance of palletizing robot,finite element model-ing,elastic dynamic simulation,performance evaluation,and size modification were integrated into MATLAB software in this paper.Size optimization was executed automatically.20 terms of key size parameters of rod parts were selected as design variables,based on which the finite element model of robot was obtained.Elastic dynamic simulation of robot was completed during typically palletizing process.An optimization indicator was defined taking increasing fundamental frequency,reducing torque of joints,and improving positioning accuracy into account.Tacking gradient optimization ideas for reference,design parameters were optimized.Comparing with original robot,root-mean-square value of whole-process joint torque reduces from 97.6 kN·m to 81.9 kN·m,mean value of funda-mental frequency increases from 6.983 Hz to 7.506 Hz,mean value of positioning error decreases from 2.424 mm to 2.119 mm.These results proves that the whole-dynamic performance of system can be effectively improved through the size optimizing of rod parts.关键词
动态优化/全域动态性能/弹性动力学仿真/空间梁单元/尺寸优化/码垛机器人Key words
dynamic optimization/whole-process dynamic performance/elastic dynamic simulation/space beam-element/size optimization/palletizing robot分类
信息技术与安全科学引用本文复制引用
李瑞峰,仝勋伟,葛连正,郭万金..基于弹性动力学仿真的码垛机器人动态优化[J].华中科技大学学报（自然科学版）,2015,(z1):23-26,4.基金项目
国家高技术研究发展计划资助项目（2013AA040902-2）． （）
