Research of Bar Optimization for the High Speed Delta Robot

Zheng Kunming; Zhang Qiuju

doi:10.16578/j.issn.1004.2539.2016.01.005

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Research of Bar Optimization for the High Speed Delta Robot

更新时间：2022-10-20

- Research of Bar Optimization for the High Speed Delta Robot
- Vol. 40, Issue 1, Pages: 21-26(2016)
- 作者机构：
  
  1. 江南大学机械工程学院
  2. 江苏省食品先进制造装备技术重点实验室
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.01.005
  CLC：
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[1]郑坤明,张秋菊.针对高速Delta机器人杆件优化的研究[J].机械传动,2016,40(01):21-26.

Zheng Kunming, Zhang Qiuju. Research of Bar Optimization for the High Speed Delta Robot. [J]. 40(1):21-26(2016)
[1]郑坤明,张秋菊.针对高速Delta机器人杆件优化的研究[J].机械传动,2016,40(01):21-26. DOI： 10.16578/j.issn.1004.2539.2016.01.005.

Zheng Kunming, Zhang Qiuju. Research of Bar Optimization for the High Speed Delta Robot. [J]. 40(1):21-26(2016) DOI： 10.16578/j.issn.1004.2539.2016.01.005.

摘要

为了充分发挥高速Delta机器人误差累积小、运动速度快的优点,需对Delta机器人进行杆件优化的研究。在建立系统运动学和刚体动力学模型的基础上,定义了全局灵巧度与主动臂冲击振动函数,根据Delta机器人的实际工作要求,对其进行了轨迹规划。利用MATLAB遗传算法工具箱,分别以灵巧度与冲击振动函数作为适应度函数,求得各自全局的最优解,再以求得的最优解作为杆件尺寸的上下界,利用权重系数变换法将灵巧度与冲击振动函数这一多目标优化问题转化为单目标优化的问题,据此综合出一组满足优化目标的尺度参数,为Delta机器人的结构优化设计提供了参考依据。

Abstract

In order to give full play of the advantages of error accumulated small and fast running speed of the high speed Delta robot,the research of bar optimization for the Delta robot is need. Based on establishing the kinematics and dynamics of rigid body model of the system,the global dexterity and the shock vibration function of driving arm are defined,according to the actual work requirements of the Delta robot,the work trajectory is planned. By using MATLAB genetic algorithm toolbox,respectively with dexterity and shock and vibration function as fitness function,the optimal solution of global is got. Then,taking the obtained optimal solution as the upper and lower bounds,by using the weight factor transformation method,the multi- objective optimization of dexterity and shock vibration function is transformed into a single objective optimization,then according to the above method,a set of meet the scale parameter optimization objectives are synthesized,a reference for the Delta robot structure optimization design is provided.

关键词

Delta机器人灵巧度冲击振动遗传算法权重系数变换法

Keywords

Delta robotDexterityShock and vibrationGenetic algorithmWeight factor transformation method

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