论文部分内容阅读
为了提高柔性关节机械臂的头部碰撞安全性,提出基于机械臂安全指数和梯度投影法的柔性关节机械臂构型优化方法,并给出安全碰撞方向和安全构型的确定方法.首先建立柔性关节机械臂的头部碰撞等效模型,模型充分考虑了机械臂关节柔性的影响.然后分别给出固定构型下安全碰撞方向的确定方法和固定碰撞方向下安全构型的确定方法.基于机械臂安全指数,采用梯度投影算法实现了冗余柔性关节机械臂连续路径的构型优化.最后,建立闭环仿真系统,分别通过平面3自由度机械臂和空间7自由度机械臂验证了采用梯度投影法降低机械臂安全指数的有效性.2种仿真结果显示,优化后的机械臂安全指数分别降低了83.86%和26.42%.
In order to improve the head collision safety of flexible joint manipulator, a flexible joint manipulator configuration optimization method based on manipulator safety index and gradient projection method is proposed, and the method of determining the safety collision direction and safety configuration is given.First, The model of head-impact of joint manipulator is considered, and the model fully considers the influence of the joint flexibility of the manipulator.Secondly, the method of determining the direction of the safety collision under the fixed configuration and the method of determining the safety configuration under the fixed collision direction are given respectively. Arm safety index, a gradient projection algorithm is used to realize the configuration optimization of the continuous path of the redundant flexible joint manipulator.Finally, a closed-loop simulation system is established, which is verified by a three-DOF manipulator and a seven- Method to reduce the effectiveness of the arm safety index.The two simulation results show that the optimized arm safety index decreased by 83.86% and 26.42% respectively.