Size Optimization of Cooperative Robots for High Flexibility in Target Space

Yuanyuan Li; Xiangquan Liu; Fei Ma

doi:10.16578/j.issn.1004.2539.2022.09.011

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Size Optimization of Cooperative Robots for High Flexibility in Target Space

Design· Calculation | 更新时间：2022-09-26

- Size Optimization of Cooperative Robots for High Flexibility in Target Space
- Journal of Mechanical Transmission Vol. 46, Issue 9, Pages: 84-91(2022)
- 作者机构：
  
  1.北京信息科技大学机电工程学院，北京 100192
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.09.011
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李媛媛,刘相权,马飞.面向目标空间高灵活性的协作机器人尺寸优化[J].机械传动,2022,46(09):84-91.

Li Yuanyuan,Liu Xiangquan,Ma Fei.Size Optimization of Cooperative Robots for High Flexibility in Target Space[J].Journal of Mechanical Transmission,2022,46(09):84-91.
李媛媛,刘相权,马飞.面向目标空间高灵活性的协作机器人尺寸优化[J].机械传动,2022,46(09):84-91. DOI： 10.16578/j.issn.1004.2539.2022.09.011.

Li Yuanyuan,Liu Xiangquan,Ma Fei.Size Optimization of Cooperative Robots for High Flexibility in Target Space[J].Journal of Mechanical Transmission,2022,46(09):84-91. DOI： 10.16578/j.issn.1004.2539.2022.09.011.

摘要

为提高协作机器人在目标空间内避开实时障碍物的灵活性，提出了一种综合性优化指标并对其关键杆件进行尺寸优化。首先，对优化的协作机器人进行运动学分析，建立数学模型，求解可达工作空间；然后，以拿取任务路径为参考，选取目标空间，定义灵活性综合评价指标为优化目标，运用粒子群算法对关键尺寸参数进行优化设计；对比了优化前后机器人灵活工作点在任务空间内的分布。结果表明，优化后的机器人灵活工作点占比明显增大，验证了该优化设计方法的有效性。

Abstract

In order to improve the flexibility of cooperative robots to avoid real-time obstacles in target space， a comprehensive optimization index is proposed， and the size of its key members is optimized. Firstly， the kinematics of the optimized cooperative robot is analyzed， the mathematical model is established， and the reachable workspace is solved； then the target space is selected with the robot's task path as the reference， the flexibility comprehensive evaluation index is defined as the optimization goal， and the particle swarm algorithm is used to optimize the key size parameters； finally， the distribution of flexible working points in the task space before and after optimization is compared. The results show the proportion of flexible working points of the optimized robot increases significantly， which verifies the effectiveness of the optimized design method.

关键词

协作机器人灵活性尺寸优化粒子群算法

Keywords

Cooperative robotFlexibilitySize optimizationParticle swarm algorithm

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