轻工机械2024，Vol.42Issue(3)：37-45,53,10.DOI:10.3969/j.issn.1005-2895.2024.03.006
基于NSGA-Ⅲ的机器人气囊抛光工具结构动力学多目标优化
Multi-Objective Optimization of Structural Dynamics of Robot Airbag Polishing Tools Based on NSGA-Ⅲ
摘要
Abstract
In order to improve the machining quality of the robot,aiming at the problem of the insufficient dynamic stiffness of the end-effector,the optimization of the structure dynamics of the robot airbag polishing tool was carried out.The finite element simulation modal analysis and experimental modal analysis were conducted independently to validate the simulation results,finding out the vulnerable structure of the polishing tool prone to vibration.Using modal analysis,the vibration response acceleration of the vulnerable structure was determined through harmonic excitation.A dynamic approximate model was established,and with the objectives of improving fundamental frequency,reducing mass and acceleration response,multi-objective optimization of vulnerable structure was carried out using NSGA-Ⅲ(non-dominated sorting genetic algorithm-Ⅲ)and MOPSO(multi-objective particle swarm optimization)respectively,to obtain the optimal dynamic response parameter combinations.The results show that NSGA-Ⅲ has a better optimization effect,the fundamental frequency is increased by 21.62%,the maximum acceleration response of the four vulnerable structures is reduced by 73.78%,69.06%,56.15%and 28.28%,respectively,and the mass is reduced by 3.32%,which effectively improves the dynamic characteristics of polishing tool.关键词
机器人/气囊抛光/结构动力学/NSGA-Ⅲ/近似模型/谐波激励Key words
robot/air bag polishing/structural dynamics/NSGA-Ⅲ(Non-dominated Sorting Genetic Algorithm-Ⅲ)/approximate model/harmonic excitation分类
信息技术与安全科学引用本文复制引用
焦培俊,姜晨,姜臻禹,周勇宇..基于NSGA-Ⅲ的机器人气囊抛光工具结构动力学多目标优化[J].轻工机械,2024,42(3):37-45,53,10.基金项目
国家自然科学基金项目(51475310). （51475310）
