[1]张安民,赵武.双自由度串联机械手的输入转矩优化[J].华侨大学学报(自然科学版),2016,37(1):12-16.[doi:10.11830/ISSN.1000-5013.2016.01.0012]
　ZHANG Anmin,ZHAO Wu.Input Torque Optimization of a Double Degree of Freedom Serial Manipulator[J].Journal of Huaqiao University(Natural Science),2016,37(1):12-16.[doi:10.11830/ISSN.1000-5013.2016.01.0012]
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双自由度串联机械手的输入转矩优化()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第37卷
期数:
2016年第1期
页码:
12-16
栏目:
出版日期:
2016-01-03

文章信息/Info

Title:
Input Torque Optimization of a Double Degree of Freedom Serial Manipulator
文章编号:
1000-5013(2016)01-0012-05
作者:
张安民1;  赵武2
1. 泸州职业技术学院 机械工程系, 四川 广安 646000;2. 四川大学 制造科学与工程学院, 四川 绵阳 621000
Author(s):
ZHANG Anmin1;  ZHAO Wu2
1. Department of Mechanical and Engineering, Luzhou Vocational and Technical College, Guang’an 646000, China; 2. College of Manufacturing Science and Engineering, Sichuan University, Mianyang 621000, China
关键词:
机械手;  串联;  双自由度;  输入转矩;  动力学方程;  仿真分析
Keywords:
manipulator;  series;  double degree of freedom;  input torque;  dynamic equation;  simulation analysis
分类号:
TP241
DOI:
10.11830/ISSN.1000-5013.2016.01.0012
文献标志码:
A
摘要:
针对串联机械手在执行任务过程中执行机构输入转矩较大,导致机构运动不平稳的问题,创建双自由度串联机械手运动简图模型.采用能量最小化控制方式,构造能量控制的动力学方程,分析机械手关节角度、连杆质量及各关节之间的距离,确定优化关系式.采取优化方法计算输入转矩的控制方程,得出输入转矩的最佳尺寸,并结合具体实例,在Matlab/Simulink软件中对优化后输入转矩进行仿真.结果表明:与优化前的仿真结果相比较,优化设计后机械手输入转矩较小,整体波动相对平稳,效果较好.
Abstract:
As for the problem that the input torque of the serial manipulator actuator is large in the executing process, which leads to the instability of the mechanism motion, a double degree of freedom serial manipulator kinematic sketch model is created. Using the energy minimization control method, the dynamic equation of the energy control is constructed. Manipulator joint angle, the quality of connecting rod, and the distance between joints are analyzed, then the optimization equation are determined. Taking the optimization method to calculate the input torque control equation, the optimal size of the input torque is obtained. Combining with concrete examples, the optimized input torque is simulated in the Matlab/Simulink software. Results show that compared with the simulation results before optimization, the optimized design of the manipulator input torque is smaller, the overall fluctuation is relatively stable and the result is better.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2015-10-10
通信作者: 张安民(1965-),男,副教授,主要从事机械制造及制造业信息化的研究.E-mail:201509zhangam@sina.com.
基金项目: 四川省科技计划项目(2013GZ0126)
更新日期/Last Update: 2016-01-20