面向六自由度移动机械手底座位置优化方法

doi:10.3969/j.issn.1001-3881.2022.05.010

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机床与液压 ›› 2022, Vol. 50 ›› Issue (5) : 49-55. DOI: 10.3969/j.issn.1001-3881.2022.05.010

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工业机器人专栏

面向六自由度移动机械手底座位置优化方法

马金茹¹, 高文华², 祁宇明³

作者信息 +

Optimization Method of Base Position for 6-DOF Mobile Manipulator

MA Jinru¹, GAO Wenhua², QI Yuming³

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文章历史 +

摘要

移动机械手具有良好的机动性和灵活性，在大型复杂零件的加工中具有广阔的应用前景。为了充分利用机器人的加工能力，提出六自由度移动机械手的加工基座位置优化方法。建立机械手运动性能指标和全局刚度指标，在此基础上综合考虑了六自由度机械手关节距离、关节速度、奇异回避和避碰等多约束条件。采用稀疏均匀网格分解寻找优化模型的有效初值，通过序列二次规划（SQP）方法最终求解基座的最优位置。最后通过风机叶片的加工仿真分析和实验验证了该优化方法的有效性和性能指标的正确性。

Abstract

Mobile manipulator has good mobility and flexibility, and has broad application prospects in the processing of large and complex parts.In order to make full use of machining ability of robot, a machining base position optimization method of 6-DOF mobile manipulator was proposed.The kinematic performance index and global stiffness index of the manipulator were established.On this basis, multiple constraints such as joint distance, joint velocity, singularity avoidance and collision avoidance of the 6-DOF manipulator were comprehensively considered.Sparse uniform grid decomposition was used to find the effective initial value of the optimization model, and the optimal position of the base was finally solved by sequential quadratic programming(SQP).Finally, the effectiveness of the optimization method and the correctness of the performance index were verified by the machining simulation analysis and experiments of fan blades.

导出引用

马金茹, 高文华, 祁宇明. 面向六自由度移动机械手底座位置优化方法[J]. 机床与液压, 2022, 50(5): 49-55 https://doi.org/10.3969/j.issn.1001-3881.2022.05.010

MA Jinru, GAO Wenhua, QI Yuming. Optimization Method of Base Position for 6-DOF Mobile Manipulator[J]. Machine Tool & Hydraulics, 2022, 50(5): 49-55 https://doi.org/10.3969/j.issn.1001-3881.2022.05.010

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