Dynamic Load Distribution Optimization for Humanoid Wrist Joints

Abstract

Abstract: A dynamic load coordination distribution optimization method was proposed for humanoid wrist joint mechanisms. Firstly, based on Lagrange method and principle of virtual work, the dynamics model of the humanoid wrist joint mechanisms was established, and the dynamic performance evaluation indexes and force mapping performance evaluation indexes were derived. Secondly the comprehensive performance evaluation index was defined by a weighted summation method. An optimal performance trajectory was obtained by Dijkstra algorithm. Then, considering time, energy consumption, and stationarity, optimal generalized time was obtained by genetic algorithm. Finally, the feasibility of this optimization method was verified by numerical examples.

Key words: humanoid wrist joint, dynamics, evaluation index, generalized time, coordination distribution

摘要： 针对拟人腕关节机构，提出了一种动载协调分配优化方法。基于拉格朗日方法和虚功原理建立动力学模型，推导了机构的动力学性能评价指标和力映射性能评价指标;采用加权求和法定义了综合性能评价指标，并通过Dijkstra算法得到了性能最优的运动轨迹;考虑时间、能耗、平稳性，采用遗传算法求解得到最优的广义时间;数值算例验证了该优化方法的可行性。

关键词: 拟人腕关节, 动力学, 评价指标, 广义时间, 协调分配

CLC Number:

TP242

LI Yanbiao1,2;WANG Lin1,2;LUO Yiqin1,2;XU Mengru1,2;ZHENG Hang1,2. Dynamic Load Distribution Optimization for Humanoid Wrist Joints[J]. China Mechanical Engineering.

李研彪1,2;王林1,2;罗怡沁1,2;徐梦茹1,2;郑航1,2. 拟人腕关节机构的动载协调分配优化[J]. 中国机械工程.

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