基于工作空间分析的9自由度超冗余串联机械臂构型优化

doi:10.3901/JME.2019.21.051

机械工程学报 ›› 2019, Vol. 55 ›› Issue (21): 51-63.doi: 10.3901/JME.2019.21.051

扫码分享

基于工作空间分析的9自由度超冗余串联机械臂构型优化

赵智远^1,2, 徐振邦¹, 何俊培^1,2, 贺帅¹, 徐策^1,2

1. 中国科学院长春光学精密机械与物理研究所长春 130033;
2. 中国科学院大学北京 100049

收稿日期:2018-11-02 修回日期:2019-06-26 出版日期:2019-11-05 发布日期:2020-01-08
通讯作者: 徐振邦(通信作者),男,1982年出生,博士,研究员,博士研究生导师。主要研究方向为空间智能机器人、空间遥感器设计、振动控制。E-mail:xuzhenbang@gmail.com
作者简介:赵智远,男,1994年出生。主要研究方向为柔体机器人运动学。E-mail:zhaozyjldx@126.com
基金资助:
国家自然科学基金（11672290）和吉林省科技发展（20160520074JH）资助项目。

Configuration Optimization of Nine Degree of Freedom Super-redundant Serial Manipulator Based on Workspace Analysis

ZHAO Zhiyuan^1,2, XU Zhenbang¹, HE Junpei^1,2, HE Shuai¹, XU Ce^1,2

1. Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033;
2. University of Chinese Academy of Sciences, Beijing 100049

Received:2018-11-02 Revised:2019-06-26 Online:2019-11-05 Published:2020-01-08

摘要/Abstract

摘要： 提出基于工作空间分析解决超冗余串联机械臂构型选择问题的方法。首先，采用正态分布对求取机器人工作空间的蒙特卡洛法进行改进。用归一化可操作度指标分析机械臂运动的灵活性，用数值仿真的方法得到了最大可操作度值与随机关节角组合的数量之间的关系，提出求取灵活工作空间的算法。其次，基于得到的工作空间，提出一种体元化算法求取工作空间的体积，寻找到工作空间的边界部分和非边界部分，通过对边界部分的不断细化，降低了体积求取误差。然后，分析多自由度串联机械臂构型设计方法，针对9自由度超冗余串联机械臂，确定出了36种待选择的构型方案。仿真分析9自由度超冗余串联机械臂的工作空间，在待选构型中选取了一组最优构型。结果表明：改进的蒙特卡洛法生成了精确的工作空间；体积求取算法效率较高，相对误差小于1%；所选构型的工作空间指标优于已研制的构型，其中可达工作空间体积提高了26.49%，灵活工作空间体积提高了36.63%。

关键词: 机械臂, 工作空间, 蒙特卡洛法, 体元化, 构型

Abstract: A method to solve the problem of configuration selection of super-redundant serial manipulators based on the workspace analysis is proposed. The Monte Carlo method for the robot workspace is improved using normal distribution. The normalized maneuverability index is used to analyze the flexibility of the manipulator's movement. The relationship between the maximum manipulability value and the number of random joint angle combinations is obtained by numerical simulation, and an algorithm to obtain a flexible workspace is proposed. Based on the obtained workspace, a voxelization algorithm is proposed to obtain the volume of the workspace, and the boundary and non-boundary parts of the workspace are found. Through the refinement of the boundary part, the volumetric error is reduced. A multivariant serials manipulator configuration design method is analyzed. For the nine-degree-of-freedom super-redundant series manipulator, 36 kinds of configuration schemes to be selected are determined. The workspace of the nine-degree-of-freedom super-redundant series manipulator is simulated and analyzed, and a set of optimal configurations is selected in the candidate configuration. The results show that the improved Monte Carlo method generates accurate workspace; the volume extraction algorithm has high efficiency and the relative error is less than 1%; the workspace index of the selected configuration is better than the configuration developed by this research group. Reachable workspace volume increases by 26.49% and flexible workspace volume increases by 36.63%.

Key words: robotic arm, workspace, Monte Carlo method, voxel, configuration

中图分类号:

TP242

赵智远, 徐振邦, 何俊培, 贺帅, 徐策. 基于工作空间分析的9自由度超冗余串联机械臂构型优化[J]. 机械工程学报, 2019, 55(21): 51-63.

ZHAO Zhiyuan, XU Zhenbang, HE Junpei, HE Shuai, XU Ce. Configuration Optimization of Nine Degree of Freedom Super-redundant Serial Manipulator Based on Workspace Analysis[J]. Journal of Mechanical Engineering, 2019, 55(21): 51-63.

参考文献

[1] 周玉林,高峰. 仿人机器人构型[J]. 机械工程学报,2006,42(11):66-74. ZHOU Yulin,GAO Feng. Mechanism architecture of humanoid robot[J]. Chinese Journal of Mechanical Engineering,2006,42(11):66-74.
[2] 赵京,宋春雨,杜滨. 基于人体工程学的仿人机械臂构型[J]. 机械工程学报,2013,49(11):16-21. ZHAO Jing,SONG Chunyu,DU Bin. Configuration of humanoid robotic arm based on human engineering[J]. Journal of Mechanical Engineering,2013,49(11):16-21.
[3] 孟得山,王学谦,梁斌,等. 基于头部碰撞等效模型的柔性关节机械臂安全构型优化[J]. 机器人,2017,39(4):523-531. MENG Deshan,WANG Xueqian,LIANG Bin,et al. Safe configuration optimization of flexible joint manipulator based on equivalent model of head collision[J]. Robot,2017,39(4):523-531.
[4] SICILIANO B,KHATIB O. Springer,Handbook on robotics[M]. Springer Handbook of Robotics,2014.
[5] ZACHARIAS F,HOWARD I S,HULIN T,et al. Workspace comparisons of setup configurations for human-robot interaction[C]//IEEE/RSJ International Conference on Intelligent Robots & Systems,2010.
[6] 李宪华,疏杨,张雷刚,等. 机械臂工作空间全局相对可操作度图的构建方法[J]. 安徽理工大学学报,2016,36(1):56-61. LI Xianhua,SHU Yang,ZHANG Leigang,et al. A method of constructing global relative manipulability map for manipulator[J]. Journal of Anhui University of Science and Technology,2016,36(1):56-61.
[7] 贾庆轩,王宣,陈钢,等. 基于位姿可达空间的太空机械臂容错路径规划[J]. 航空学报,2018,39(8):299-309. JIA Qingxuan,WANG Xuan,CHEN Gang,et al. A fault tolerant path planning method for space manipulator based on position and orientation reachable space[J]. Acta Aeronautica et Astronautica Sinica,2018,39(8):299-309.
[8] CAO Y,LU K,LI X,et al. Accurate numerical methods for computing 2D and 3D robot workspace[J]. International Journal of Advanced Robotic Systems,2011,8(6):1-13.
[9] 刘志忠,柳洪义,罗忠,等. 机器人工作空间求解的蒙特卡洛法改进[J]. 农业机械学报,2013,44(1):230-235. LIU Zhizhong,LIU Hongyi,LUO Zhong,et al. Improvement on Monte Carlo method for robot workspace determination[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(1):230-235.
[10] PEIDRO A,ÓSCAR R,GIL A,et al. An improved Monte Carlo method based on Gaussian growth to calculate the workspace of robots[J]. Engineering Applications of Artificial Intelligence,2017,64:197-207.
[11] CAO Y,QI S,LU K,et al. Shape and size computation of planar robot workspace[C]//Computer Science and Information Engineering,2009 WRI World Congress on. IEEE,2009:126-130.
[12] 田海波,马宏伟,魏娟. 串联机器人机械臂工作空间与结构参数研究[J]. 农业机械学报,2013,44(4):196-201. TIAN Haibo,MA Hongwei,WEI Juan. Workspace and structural parameters analysis for manipulator of serial robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(4):196-201.
[13] 何俊培,徐振邦,于阳,等. 九自由度超冗余机械臂的设计和测试[J]. 光学精密工程,2017,25(12):80-86. HE Junpei,XU Zhenbang,YU Yang,et al. Design and experimental testing of a 9-DOF hyper-redundant robotic arm[J]. Optics and Precision Engineering,2017,25(12):80-86.
[14] 谢碧云,赵京. 机器人运动灵活性问题研究概述[J]. 机械科学与技术,2011,30(8):1386-1393. XIE Biyun,ZHAO Jing. Advances in robotic kinematic dexterity and indices[J]. Mechanical Science and Technology for Aerospace Engineering,2011,30(8):1386-1393.
[15] TADOKOR S,KIMURA I,TAKAMORI T. A dexterity measure for trajectory planning and kinematic design of redundant manipulators[C]//Industrial Electronics Society,1989. IECON'89. Conference of IEEE. IEEE,1989:415-420.
[16] YOSHIKAWA T. Analysis and control of robot manipulators with redundancy[J]. The first Int. Symp. of Robotics Research,1984(1):735-747.
[17] 陈钢,李彤,贾庆轩,等. 空间机械臂末端力/位容错过程中关节参数突变抑制[J]. 机械工程学报,2017,54(3):36-45. CHEN Gang,LI Tong,JIA Qingxuan,et al. Reducing the joint parameter jump during the operation of the force/position fault-tolerant of end-effector for space manipulator[J]. Journal of Mechanical Engineering,2017,54(3):36-45.
[18] YOSHIKAWA T. Manipulability of robotic mechanisms[J]. Int. J. Robot. Res.,1985,4(2):3-9.
[19] LENARČIČ J,THOMAS F. Advances in robot kinematics:Theory and applications[M]. Netherlands:Springer,2002.
[20] SAJDAK M,ESTORNELL J,RECIO J A. Different methodologies for calculating crown volumes of platanus hispanica trees using terrestrial laser scanner and a comparison with classical dendrometric measurements[J]. Computers & Electronics in Agriculture,2013,90:176-185.
[21] 王佳,张芳菲,高赫,等. 地基激光雷达提取单木冠层结构因子研究[J]. 农业机械学报,2018,49(2):199-206. WANG Jia,ZHANG Fangfei,GAO He,et al. Extracting crown structure parameters of individual tree by using groundbased laser scanner[J]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(2):199-206.
[22] 陆震. 冗余自由度机器人原理及应用[M]. 北京:机械工业出版社,2007. LU Zhen. Principle and application of redundant DOF robots[M]. Beijing:China Machine Press,2007.
[23] TSAI Y C,SONI A H. Workspace synthesis of 3R,4R,5R and 6R robots[J]. Mechanism\s&\smachine Theory,1985,20(6):555-563.

基于工作空间分析的9自由度超冗余串联机械臂构型优化

Configuration Optimization of Nine Degree of Freedom Super-redundant Serial Manipulator Based on Workspace Analysis

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	杨晓航, 赵智远, 李云涛, 徐梓淳, 赵京东. 基于可操作度优化的冗余机械臂逆运动学求解方法[J]. 机械工程学报, 2024, 60(7): 22-33.
[2]	张立元, 杨锦波, 李澳, 杨庆凯, 徐光魁. 张拉整体球形机器人构型设计与控制研究进展[J]. 机械工程学报, 2024, 60(5): 1-18.
[3]	赵智远, 杨晓航, 徐梓淳, 李云涛, 汤家文, 赵京东. 新型SSRMS构型可重构空间机械臂的运动学奇异性分析[J]. 机械工程学报, 2024, 60(5): 19-35.
[4]	谢超, 张恩杰, 严飙, 高峰, 杨金平, 房光强, 王治易. 空间可展薄膜阵列天线构型设计与验证[J]. 机械工程学报, 2024, 60(3): 11-27.
[5]	刘晓飞, 万波, 王雨, 李鸣宇, 赵永生. 新型超冗余驱动混联机器人设计分析与性能优化[J]. 机械工程学报, 2024, 60(3): 55-67.
[6]	王佩, 程雨旺, 李新浩, 姚静, 吴柳杰. 等编码数字流量控制单元编码变换与控制方法[J]. 机械工程学报, 2024, 60(2): 287-301.
[7]	于金须, 闫建华, 王孝冉, 张立杰, 谢平, 李永泉. 一种人机共融的手指外骨骼机器人设计与验证[J]. 机械工程学报, 2024, 60(17): 102-110.
[8]	梁旭, 张建勇, 李国涛, 苏婷婷, 何广平, 侯增广. 面向骨折复位手术的冗余并联机构：设计、建模与性能分析[J]. 机械工程学报, 2024, 60(17): 133-146.
[9]	石建平, 徐永驰, 古训, 陈冬云. 面向冗余机械臂逆运动学问题的人工蜂群算法改进[J]. 机械工程学报, 2024, 60(15): 60-70.
[10]	代鹤, 罗顺安, 龙新华, 李元, 訾斌. 齿轮轴孔位置误差作用下行星齿轮啮合相位波动及其统计特性预测[J]. 机械工程学报, 2024, 60(15): 123-133.
[11]	黄鹏, 李长硕, 丁华锋, 陈子明, 赵玉倩. 液压装载机工作装置的构型综合与优选[J]. 机械工程学报, 2024, 60(1): 220-234.
[12]	陈凯云, 盛晨原. 多足蠕动式攀爬机器人混联机构运动特性及其工作空间[J]. 机械工程学报, 2023, 59(9): 28-39.
[13]	田宇, 王洪波, 刘颖, 杜家正, 牛建业. 一种食指康复外骨骼机器人设计与分析[J]. 机械工程学报, 2023, 59(9): 40-50.
[14]	赵京, 周振勇, 张自强. 冗余度机械臂的自运动流形计算及关节轨迹规划[J]. 机械工程学报, 2023, 59(5): 77-88.
[15]	褚宏鹏, 祁柏, 王慧奇, 邱雪松, 周玉林. 六自由度轮式并联机器人及其构型方法[J]. 机械工程学报, 2023, 59(3): 46-53.