TY - GEN
T1 - A method of structure optimization for high-speed and heavy-load robot based on dynamic characteristic analysis
AU - Liang, Le
AU - Liu, Yanjie
AU - Han, Haijun
AU - Wu, Mingyue
AU - Ma, Qingwu
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/26
Y1 - 2016/9/26
N2 - In this paper, a method of structure optimization for high-speed and heavy-load robot based on dynamic characteristic analysis is presented. Firstly, the flexible coupling dynamics model of the robot is established and modal analysis is carried out. Then the concept of relative sensitivity is presented, by which the optimization variables are determined. According to the operating characteristics of the robot, such as palletizing cycles per hour, terminal repeat positioning accuracy and rated load, the optimization indicators can be proposed, which are the lowest natural frequency, the maximum acceleration and static stiffness, speed integrated characteristics. Combined with work space constraint, a multi-objective optimization model is established, which is solved by NSGA-II genetic algorithm. Finally the optimized results are analyzed and compared, which can prove the validity of the method.
AB - In this paper, a method of structure optimization for high-speed and heavy-load robot based on dynamic characteristic analysis is presented. Firstly, the flexible coupling dynamics model of the robot is established and modal analysis is carried out. Then the concept of relative sensitivity is presented, by which the optimization variables are determined. According to the operating characteristics of the robot, such as palletizing cycles per hour, terminal repeat positioning accuracy and rated load, the optimization indicators can be proposed, which are the lowest natural frequency, the maximum acceleration and static stiffness, speed integrated characteristics. Combined with work space constraint, a multi-objective optimization model is established, which is solved by NSGA-II genetic algorithm. Finally the optimized results are analyzed and compared, which can prove the validity of the method.
UR - https://www.scopus.com/pages/publications/84992396645
U2 - 10.1109/AIM.2016.7576976
DO - 10.1109/AIM.2016.7576976
M3 - 会议稿件
AN - SCOPUS:84992396645
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1461
EP - 1466
BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Y2 - 12 July 2016 through 15 July 2016
ER -