摘要
为了对SCARA机器人运动过程中产生的振动进行有效抑制,首先,建立了SCARA机器人的简化浮动坐标法动力学模型;然后,利用n阶S形曲线构造了同时对定位时间和SCARA机器人受到的冲击进行优化的多目标优化模型;最后,采用基于Kriging模型的NSGA-Ⅱ算法对优化问题进行求解。得到的多目标优化问题的Pareto前沿表明,四阶S形曲线的定位时间与三阶S形曲线大致相当,但是引起的冲击远小于三阶S形曲线。对优化结果的仿真也表明,以四阶S形曲线驱动的SCARA机器人运行过程更平滑,产生的残余振动也远小于三阶S形曲线。研究表明,四阶S形曲线具备比三阶S形曲线更加优良的振动抑制性能,在工程中具有广泛的应用价值。
In order to effectively suppress the vibration generated during the motion of SCARA robot,this paper firstly establishes a simplified floating frame of reference dynamics model of SCARA robot,then constructs a multi-objective optimization model that simultaneously optimizes the positioning time and the impact on SCARA robot by using n-order S-shaped curve line,and finally the NSGA-Ⅱalgorithm based on Kriging model is used to solve the optimization problem.The Pareto fronts of the multi-objective optimization problem show that the positioning time of the fourth-order S-curve line is approximately the same as that of the third-order S-curve line,but the impact caused is much smaller than that of the third-order S-curve line.Simulations of the optimization results also show that the SCARA robot driven by a fourth-order S-curve line runs more smoothly and generates much less residual vibration than a third-order S-curve line.The research of this paper shows that the fourth-order S-curve line has better vibration suppression performance than the third-order S-curve line,and it has the value to be widely used in engineering.
作者
吴坤
王明威
周康
WU Kun;WANG Mingwei;ZHOU Kang(School of Engineering,Zhengzhou Technology and Business University,Zhengzhou 454000,China;School of Mechanical and Power Engineering,Zhengzhou University,Zhengzhou 450001,China)
出处
《组合机床与自动化加工技术》
北大核心
2024年第1期14-18,24,共6页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金项目(52005451)
教育部“产学合作协同育人”项目(202102256009)。
