现代制造工程Issue(11)：43-49,7.DOI:10.16731/j.cnki.1671-3133.2017.11.008
一种三自由度冲压搬运机械手的尺度综合
Dimensional synthesis of a 3-DOF handing manipulator in press line
刘静 1张明1
作者信息
- 1. 江西理工大学机电工程学院,赣州341000
- 折叠
摘要
Abstract
A novel 3-DOF hybrid manipulator was presented to pick and place the tubes on punch line.The workspace and optimization of the mechanism structure were carried out,several evaluation indexes of kinematics and dynamics performance are established for the object functions,workspace and static stiffness index for the constrains,parameters of level and tension spring for the design variables,and then a standard multi-objective optimization model can be built.The dimension synthesis is carried out by solving the multi-objective optimization with Non-dominated Sorting Genetic Algorithm-Ⅱ(NSGA-Ⅱ),the result of reducing driving torque of the motor 2 was selected in Pareto optimal solutions,meanwhile the selected solution can not significantly impaired other evaluation indexes.The selected solution was verified with kinematics,dynamics equation,the results show that optimized manipulator kinematics and dynamics performance has been greatly improved,and the theoretical foundation was brought forward to guide structural design and motion control.关键词
冲压搬运机械手/多目标优化/NSGA-Ⅱ/尺度综合Key words
stamping manipulator/multi-objective optimization/NSGA-Ⅱ/dimension synthesis分类
信息技术与安全科学引用本文复制引用
刘静,张明..一种三自由度冲压搬运机械手的尺度综合[J].现代制造工程,2017,(11):43-49,7.
