Optimization Design of Node Placement Manipulators Based on Working Area and Response Speed

Huang Zhiqiang; Duan Yuxing; Song Xiaowei; Wang Jie; Fu Mingwei; Sun Haoxiang; Li Gang

doi:10.16578/j.issn.1004.2539.2024.01.010

您当前的位置：

首页 >

文章列表页 >

Optimization Design of Node Placement Manipulators Based on Working Area and Response Speed

Design· Calculation | 更新时间：2024-12-13

- Optimization Design of Node Placement Manipulators Based on Working Area and Response Speed
- Journal of Mechanical Transmission Vol. 48, Issue 1, Pages: 67-74(2024)
- 作者机构：
  
  1.西南石油大学机电工程学院，四川成都 610500
  2.中国石油集团东方地球物理勘探有限责任公司，河北涿州 072750
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.01.010
  CLC：
- Published：15 January 2024，
  
  Received：10 October 2022，
  
  Revised：22 October 2022，
- 稿件说明：
移动端阅览
黄志强,段宇星,宋晓伟等.基于作业区域和响应速度的节点布收机械臂优化设计[J].机械传动,2024,48(01):67-74.

Huang Zhiqiang,Duan Yuxing,Song Xiaowei,et al.Optimization Design of Node Placement Manipulators Based on Working Area and Response Speed[J].Journal of Mechanical Transmission,2024,48(01):67-74.
黄志强,段宇星,宋晓伟等.基于作业区域和响应速度的节点布收机械臂优化设计[J].机械传动,2024,48(01):67-74. DOI： 10.16578/j.issn.1004.2539.2024.01.010.

Huang Zhiqiang,Duan Yuxing,Song Xiaowei,et al.Optimization Design of Node Placement Manipulators Based on Working Area and Response Speed[J].Journal of Mechanical Transmission,2024,48(01):67-74. DOI： 10.16578/j.issn.1004.2539.2024.01.010.

摘要

节点作为油气勘探中数据采集的关键设备，人工布收的工作强度大、重复性高；机械臂具有长时间持续工作等优点，可代替人工布收节点，提高其布收效率；但机械臂结构刚度低、响应速度慢。因此，对机械臂进行了结构优化及轻量化设计，以提高其结构刚性及运动能力。基于旋量理论，建立了节点布收机械臂正运动学方程，以作业区域为约束条件，提出了综合考虑节点布收机械臂的静刚度全域指标和任务方向的速度综合全域指标，建立了节点布收机械臂尺寸优化数学模型；利用多目标粒子群算法，结合变密度法对节点布收机械臂大臂进行了尺寸优化及轻量化设计。结果表明，结构尺寸优化后，节点布收机械臂的静刚度全域指标提升了19.8%，任务方向的速度综合性能提升了8.8%，显著提高了机械臂的刚度及运动能力；大臂轻量化设计后质量降低了14.7%，有利于提高响应速度的运动能力。研究结果对提高油气勘探的准确性和效率具有重要意义。

Abstract

As the key equipment of data acquisition in oil and gas exploration

the node can be replaced by a mechanical arm because of its long-term continuous work and high efficiency

but the structure rigidity is weak and the motion ability is poor

so the structure optimization and lightweight design are carried out to improve the structure rigidity and motion ability. Based on the screw theory

the forward kinematics equation of the manipulator with node placement is established

the global static stiffness index and the global velocity index considering the direction of the task are proposed

and the mathematical model of the size optimization of the node-placing manipulator is established. Based on the multi-objective particle swarm algorithm and the variable density method

the size optimization and lightweight design of the node-distributed manipulator arm are carried out. The results show that the overall static stiffness index and the overall velocity performance in the mission direction are improved by 19.8% and 8.8% respectively

and the lightweight design of the upper arm reduces the mass by 14.7%

which is beneficial to improve the response speed of the movement ability. The research results are of great significance for improving the accuracy and efficiency of oil and gas exploration.

关键词

机械臂节点性能指标分析尺寸优化多目标粒子群算法轻量化设计

Keywords

Robotic armNodePerformance index analysisSize optimizationMulti-objective particle swarm algorithmLightweight design

references

CHENG J Y，JIANG H，JI G Z，et al.Channel wave seismic exploration technology based on node digital seismograph in underground mine［J］.Coal Science & Technology，2015，43（2）：25-28.

刘永安.协作技术与工业机器人发展［J］.装备制造技术，2019（2）：143-145.

LIU Yong'an.Collaborative technology and development of industrial robot［J］.Equipment Manufacturing Technology，2019（2）：143-145.

李珊，王磊，吴明兄，等.采用智能机器人代替人工作业的CNC加工岛设计［J］.机床与液压，2019，47（17）：29-35.

LI Shan，WANG Lei，WU Mingxiong，et al.CNC machining island design using intelligent robots instead of manual operations［J］.Machine Tool and Hydraulics，2019，47（17）：29-35.

孟令峰，王淼，田子健，等. 机器臂辅助腹腔镜下子宫骶骨固定术对盆腔器官脱垂患者的疗效和安全性［J］.中华老年医学杂志，2021，40（11）：1407-1411.

MENG Lingfeng，WANG Miao，TIAN Zijian，et al.The efficacy and safety of robotic arm-assisted laparoscopic uterosacral fixation in patients with pelvic organ prolapse［J］.Chinese Journal of Geriatrics，2021，40（11）：1407-1411.

陈晓菲.RB20型工业机器人刚度性能研究［D］.沈阳：沈阳理工大学，2019：6-7.

CHEN Xiaofei.Research on the stiffness performance of RB20 industrial robot［D］.Shenyang：Shenyang Ligong University，2019：6-7.

张永贵，刘晨荣，刘鹏.6R工业机器人刚度分析［J］.机械设计与制造，2015（2）：257-260.

ZHANG Yonggui，LIU Chenrong，LIU Peng.Stiffness analysis of 6R industrial robot［J］.Machinery Design and Manufacture，2015（2）：257-260.

关立文，陈志雄，刘春，等.钻铆机器人静刚度建模及优化［J］．清华大学学报（自然科学版），2021，61（9）：965-971.

GUAN Liwen，CHEN Zhixiong，LIU Chun，et al.Modeling and optimization of static stiffness of drilling and riveting manipulator［J］.Journal of Tsinghua University（Science and Technology），2021，61（9）：965-971.

ABELE E，WEIGOLD M，ROTHENBUCHER S.Modeling and identification of an industrial robot for machining applications［J］.CIRP Annals-Manufacturing Technology，2007，56（1）：387-390.

徐鹏，富威，陈艳龙，等.七自由度球头开孔机器人结构优化研究［J］.大连理工大学学报，2019，59（1）：63-70.

XU Peng，FU Wei，CHEN Yanlong，et al.Structural optimization of a seven-degree-of-freedom spherical head opening manipulator［J］.Journal of Dalian University of Technology，2019，59（1）：63-70.

LUO Y J，XING J，ZHAN K Z.Topology optimization using material-field series expansion and kriging-based algorithm：an effective non-gradient method［J］.Computer Methods in Applied Mechanics and Engineering，2020，364：112966.

胡启国，胡艳敏.工业机器人臂部静动态多目标拓扑优化［J］．重庆交通大学学报（自然科学版），2020，39（9）：146-152.

HU Qiguo，HU Yanmin.Static and dynamic multi-objective topology optimization of industrial robotic arm［J］.Journal of Chongqing Jiaotong University （Natural Science），2020，39（9）：146-152.

BRIOT S，GOLDSZTEJN A.Topology optimization of industrial robots：application to a five-bar mechanism［J］.Mechanism and Machine Theory，2018，121：245-258.

于靖军.机器人机构学的数学基础［M］.北京：机械工业出版社，2008：59-64.

YU Jingjun.The mathematical foundation of robotics［M］.Beijing：China Machine Press，2008：59-64.

YANG K，YANG W，CHENG G，et al.A new methodology for joint stiffness identification of heavy duty industrial robots with the counterbalancing system［J］.Robotics and Computer-Integrated Manufacturing，2018，53：58-71.

ANGELES J.On the nature of the Cartesian stiffness matrix［J］.Ingenieria Mecanica，Tecnologia Y Desarrollo，2010，3（5）：163-170.

胡胜海，杨奇，何蕾，等.基于速度方向可操作度的机器蛙机构参数优化［J］.北京航空航天大学学报，2012，38（3）：351-356.

HU Shenghai，YANG Qi，HE Lei，et al.Optimization of machine frog mechanism parameters based on speed direction maneuverability［J］.Journal of Beijing University of Aeronautics and Astronautics，2012，38（3）：351-356.

郁磊.MATLAB智能算法30个案例分析［M］.北京：北京航空航天大学出版社，2011：102-106.

YU Lei.Analysis of 30 cases of MATLAB intelligent algorithm［M］.Beijing：Beihang University Press，2011：102-106.

蔡安江，杨奇琦.基于变密度法的平模台振加强筋布局优化［J］.计算力学学报，2021，38（1）：66-72.

CAI Anjiang，YANG Qiqi.Layout optimization of vibration stiffeners for flat die table based on variable density method［J］.Chinese Journal of Computational Mechanics，2021，38（1）：66-72.

张志飞，陈仁，徐中明，等.面向多目标的汽车悬架控制臂拓扑优化研究［J］.机械工程学报，2017，53（4）：114-121.

ZHANG Zhifei，CHEN Ren，XU Zhongming，et al.Research on the topology optimization of automobile suspension control arm for multi-objective［J］.Journal of Mechanical Engineering，2017，53（4）：114-121.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Trajectory Planning of Crossed Roller Bearing Automatic Assembly Robotic Arms Based on the Improved Gray Wolf Optimizer

Application of an Improved Particle Swarm Optimization Algorithm in the Robotic Arm of a Handling Robot

Design and Optimization of a New Type of the Back Pressure Reducing Back-lifting Mechanism

Lightweight Design and Verification of Housings of Helicopter Reducers with Carbon Fiber Reinforced Composites

Target Detection and Robotic Arm Grasp Pose Estimation Based on YOLOv5 and Transfer Learning

Related Author

Zhang Yupeng

Zhou Zhigang

Dang Yugong

Hu Jiangtao

Chen Meirong

Cao Jingyi

Liu Jiangyi

Shu Yibin

Related Institution

Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing

College of Vehicle and Traffic Engineering, Henan University of Science and Technology

School of Mechanical and Electrical Engineering, Central South University of Forestry and Technology

College of Mechanical Engineering, Jiangsu Institute of Technology

School of Materials Science and Engineering, Shanghai Jiaotong University

⁰