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提出了一种基于高条件数性能指标优化方法对机器人结构参数进行优化。在操作任务相同时,机器人的灵活度性能指标越高,各关节的驱动电机的转速会越低。在管道插接空间相贯线焊接任务中,焊枪的工作速度很慢,容易导致驱动电机速度过低。提出与传统灵活度性能指标相反的设计思路,适当降低机构的灵活度,有效的提高了电机的转速。以关节式焊接机器人的结构参数设计为例,验证了这种优化思路的有效性。
A new optimization method of robot structural parameters based on high-condition number performance index optimization is proposed. When the operation tasks are the same, the higher the flexibility index of the robot, the lower the speed of the driving motor of each joint will be. In the pipe plugging space intersecting line welding tasks, the welding torch work very slowly, easily lead to drive motor speed is too low. Proposed with the traditional flexible performance indicators of the opposite design ideas, appropriate to reduce the flexibility of institutions and effectively improve the motor speed. Taking the structural parameter design of joint welding robot as an example, the validity of this optimization method is verified.