机械与电子Issue(10)：57-61,5.
一种考虑柔性的码垛机器人动力学性能优化方法
A Method for Dynamic Characteristics Optimization of Flexible Palletizing Robot
摘要
Abstract
Considering the impact of flexible joint,a method for dynamics optimization design of high speed,heavy load palletizing robot is pres-ented.Firstly,the flexible dynamics model is es-tablished and dynamics simulation is carried out. Next,Modal Analysis and forced vibration analysis is followed.The first natural frequency and the maximum joint driving torque based on the target trajectory are selected as dynamic optimization goals and a multi objective optimization model is established,which is solved by NSGA II genetic algorithm.Optimization results showed that:The dynamics performance of the robot is significantly improved,indicating that the optimization method is reasonable and effective.关键词
高速重载/柔性/动态特性/多目标优化Key words
high speed and heavy load/flexi-bility/dynamic characteristics/multi objective opti-mization分类
信息技术与安全科学引用本文复制引用
刘延杰,马清伍,梁乐,韩海军..一种考虑柔性的码垛机器人动力学性能优化方法[J].机械与电子,2015,(10):57-61,5.基金项目
国家“863计划”项目（2013AA040901）；黑龙江省创新专项 （）
