【摘要】：設(shè)計(jì)了一種用在管材沖壓線上,代替人工完成上、下料動(dòng)作的三自由度沖壓搬運(yùn)機(jī)械手,對(duì)該機(jī)械手進(jìn)行工作空間求解和優(yōu)化設(shè)計(jì),以運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)性能指標(biāo)為目標(biāo)函數(shù),以工作空間和靜剛度指標(biāo)為約束條件,以桿件參數(shù)和拉簧參數(shù)為設(shè)計(jì)變量,建立機(jī)械手的多目標(biāo)優(yōu)化模型。用非支配排序遺傳算法(Non-dominated Sorting Genetic Algorithm-Ⅱ,NSGA-Ⅱ)求解多目標(biāo)優(yōu)化模型,在Pareto最優(yōu)解集中優(yōu)先選擇降低電動(dòng)機(jī)2極限力矩的解,且所選解不能大幅削弱其他性能指標(biāo)。將所選解代入運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)方程中進(jìn)行理論計(jì)算,結(jié)果表明,優(yōu)化后機(jī)械手的運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)性能指標(biāo)均有了一定程度的改善,為結(jié)構(gòu)設(shè)計(jì)和運(yùn)動(dòng)控制提供了依據(jù)。
[Abstract]:In this paper, a three degree of freedom stamping handling manipulator which is used in the tube stamping line instead of manual operation is designed. The workspace of the manipulator is solved and optimized. The kinematics and dynamics performance index is taken as the objective function. The multi-objective optimization model of manipulator is established by taking workspace and static stiffness index as constraint conditions and taking rod and spring parameters as design variables. Non-dominated Sorting Genetic Algorithm- 鈪，

本文編號(hào)：2269829