一种串联机器人的全局参数优化设计方法

中国机械工程 ›› 2014, Vol. 25 ›› Issue (16): 2235-2239.

一种串联机器人的全局参数优化设计方法

肖永飞1;王学林1;张福海2;陈铁１;付宜利2

1.山东省科学院自动化研究所山东省机器人与制造自动化技术重点实验室,济南,250014
2.哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨,150080

出版日期:2014-08-26 发布日期:2014-09-11
基金资助:
国家自然科学基金资助项目(61203347);山东省科技发展计划项目(2012GGC01019);山东省自然科学基金资助项目（ZR2012FQ022）

A Global-Parameter Optimal Design Method for Serial Manipulators

Xiao Yongfei1;Wang Xuelin1;Zhang Fuhai2;Chen Tie1;Fu Yili2

1.Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology,Shandong Academy of Sciences Institute of Automation,Jinan,250014
2.State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin,150080

Online:2014-08-26 Published:2014-09-11
Supported by:
National Natural Science Foundation of China（No. 61203347）;Shandong Provincial Science and Technology Development Program( No. 2012GGC01019)

摘要/Abstract

摘要：

针对串联机器人物理参数方程的非线性导致的只能对串联机器人进行局部优化的问题,提出了一种基于线性矩阵不等式的全局优化方法。该方法从串联机器人机构与控制协同设计的理念出发，通过将非线性动力学方程的求解转化为线性矩阵不等式的优化问题，以消耗能量最小的方式来分析串联机器人指定动作下的动态特性，进而从全局角度来获取质量、几何尺寸、惯量等最优物理参数。用该方法指导4自由度重载机器人样机设计，运行效果验证了该方法的有效性。

关键词: 串联机器人, 线性矩阵不等式, 优化设计, 物理参数

Abstract:

To the problems that nonlinear physical-parameter function of serial manipulators led to local optimization, a global optimal method based on linear matrix inequality was proposed. Acording to the ideas of co-work of mechanism and control system, the dynamic characteristics of prescript action were analyzed using minimum energy law by transfering the solution of nonlinear dynamic function to optimization problems of linear matrix inequality. Further, the gloal optimal physical parameters, such as the mass, the geometirc dimenstion, the moment of inertia, were achieved. A 4-DOF heavy-load robot was designed by this method, and the operating results verify the effectiveness of the proposed method.

Key words: serial robot, linear matrix inequality, optimal design, physical parameter

中图分类号:

TP242

肖永飞, 王学林, 张福海, 陈铁１, 付宜利. 一种串联机器人的全局参数优化设计方法[J]. 中国机械工程, 2014, 25(16): 2235-2239.

Xiao Yongfei, Wang Xuelin, Zhang Fuhai, Chen Tie, Fu Yili. A Global-Parameter Optimal Design Method for Serial Manipulators[J]. China Mechanical Engineering, 2014, 25(16): 2235-2239.

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