一种圆柱物料装填机器人残余振动抑制方法

doi:10.13700/j.bh.1001-5965.2019.0296

北京航空航天大学学报 ›› 2020, Vol. 46 ›› Issue (4): 746-753.doi: 10.13700/j.bh.1001-5965.2019.0296

一种圆柱物料装填机器人残余振动抑制方法

郑昱, 广晨汉, 杨洋

北京航空航天大学机械工程及自动化学院, 北京 100083

收稿日期:2019-06-17 发布日期:2020-04-21
通讯作者: 杨洋 E-mail:yang_mech@126.com
作者简介:郑昱,男,博士研究生。主要研究方向:机器人动力学与控制技术;广晨汉,男,博士研究生。主要研究方向:机构学、智能机械设计与控制;杨洋,男,博士,教授,博士生导师。主要研究方向:机器人机构学、医疗机器人、智能机械设计与控制。
基金资助:
总装备部预先研究项目（41462030101PD03）

Residual vibration suppression method of a cylindrical material loading robot

ZHENG Yu, GUANG Chenhan, YANG Yang

School of Mechanical Engineering and Automation, Beihang University, Beijing 100083, China

Received:2019-06-17 Published:2020-04-21
Supported by:
Pre-Research Project of the General Armament Department (41462030101PD03)

摘要/Abstract

摘要： 为提高载具内的物料装填效率，提出了一种在载具内受限空间中使用的新型圆柱物料装填机器人，并通过优化关节轨迹，对机器人末端残余振动进行抑制。首先，给出物料装填机器人的总体设计方案和工作流程。然后，结合物料装填机器人的结构特点，应用拉格朗日方法建立封闭形式的刚柔耦合动力学模型，并应用模态分析方法得到机器人末端动态响应计算方法。最后，以物料装填机器人关节残余弹性势能最小为优化目标，使用最大最小蚂蚁系统，对机器人关节轨迹进行优化，并对优化结果进行仿真验证。仿真结果表明，优化后的关节轨迹，在满足快速装填要求的基础上，可以降低约34.4%的关节残余弹性势能和约37.6%的机器人末端振动振幅。

关键词: 物料装填机器人, 振动抑制, 轨迹优化, 最大最小蚂蚁系统, 有限空间

Abstract: In order to improve the material loading efficiency in vehicles, this paper proposes a new cylindrical material loading robot used in confined space. The residual vibration of the end-effector has been suppressed by optimizing the joint trajectory. Firstly, the overall design scheme and work flow of the material loading robot are given. Then, combined with the structural characteristics of material loading robot, a closed-form rigid-flexible coupling dynamic model is established according to Lagrange method. The calculation method of end-effector's dynamic response is obtained by modal analysis method. Finally, taking the minimization of the sum of the robot joints' residual elastic potential energy as the optimization target, max-min ant system was taken to optimize the trajectory of the robot joint. The optimization results were verified by simulation. Simulation results show that the optimized joint trajectory can reduce about 34.4% of the joint residual elastic potential energy and about 37.6% of vibration amplitude of the end-effector, while satisfying the demand for fast loading.

Key words: material loading robot, vibration suppression, trajectory optimization, max-min ant system, confined space

中图分类号:

郑昱, 广晨汉, 杨洋. 一种圆柱物料装填机器人残余振动抑制方法[J]. 北京航空航天大学学报, 2020, 46(4): 746-753.

ZHENG Yu, GUANG Chenhan, YANG Yang. Residual vibration suppression method of a cylindrical material loading robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(4): 746-753.

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一种圆柱物料装填机器人残余振动抑制方法

Residual vibration suppression method of a cylindrical material loading robot

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