面向残余振动抑制的油罐车自主加注臂平衡机构设计参数优化

doi:10.3901/JME.2025.23.011

摘要/Abstract

摘要： 为了解决油罐车自主加注臂作业过程中会因末端残余振动而造成加注口对接精度降低，进而影响作业效率和作业安全的问题，开展了加注臂中弹簧式平衡机构设计参数的优化。首先，建立了关节柔性自主加注臂的动力学模型，并基于仿真测试分析了残余振动的影响因素；然后，在推导加注臂平衡力矩基础上计算出平衡机构所需的最大输出拉力，并以此确定了平衡机构的初始设计参数和范围；最后，以最小化加注臂偏重力矩和平衡机构体积作为优化目标，基于遗传算法实现了平衡机构设计参数的优化。数值测试结果表明，相较于未安装平衡机构的加注臂，在安装了经优化的平衡机构后，其关节驱动力矩和末端跟随偏差都得到了降低，且当液压缸伸缩距离R_i=‒40mm时，加注臂末端Z轴方向的最大振幅减少10.67 mm，相较于未安装平衡机构时所受到的最大振幅减少了71.2%，振动幅值完全衰减所用的时间也比无平衡机构加注臂减少了5.18 s，从而验证了所设计和优化的平衡机构在抑制加注臂末端残余振动方面的有效性和优越性。而试验结果也进一步验证了加注臂平衡机构设计参数优化的有效性。

关键词: 自主加注臂, 平衡机构, 柔性关节, 残余振动抑制, 参数优化

Abstract: In order to solve the problem of reduced docking accuracy of the refueling port caused by residual vibration at the end during the operation of the autonomous filling arm of the oil tank truck, which affects the efficiency and safety of the operation, the parameters of the spring type balance mechanism in the filling arm are designed and optimized. First, a dynamic model of an autonomous refueling arm considering joint flexibility is established, and the influencing factors of residual vibration are analyzed based on simulation tests. Then, the maximum output tension required by the balance mechanism is calculated based on the derivation of the balance torque of the filling arm, and the initial design parameters and range of the balance mechanism are determined accordingly. Finally, the optimization of the design parameters for balance mechanism is achieved with the objective of minimizing the bias torque of the filling arm and the volume of the balance mechanism based on genetic algorithm. The numerical test results show that compared to the filling arm without a balance mechanism installed, the driving torque of the arm joint and the end effector following deviation are reduced in the filling arm with an optimized balance mechanism installed. Moreover, when the hydraulic cylinder extension distance R_i=‒40, the maximum amplitude at the end of the filling arm in the Z-axis is reduced by 10.67mm, which is 71.2% less than the maximum amplitude received without a balance mechanism installed. The time required for complete attenuation of the vibration amplitude is also reduced by 5.18s compared to the filling arm without a balance mechanism, which verifies the effectiveness and superiority of the designed and optimized balance mechanism in suppressing residual vibration at the end of the filling arm. The experimental results further verified the effectiveness of parameter optimization for the balance mechanism of the autonomous refueling arm.

Key words: autonomous filling arm, balance mechanism, flexible joints, residual vibration suppression, parameter optimization

中图分类号:

袁明新, 蒋为钰, 王巍, 李解, 申燚. 面向残余振动抑制的油罐车自主加注臂平衡机构设计参数优化[J]. 机械工程学报, 2025, 61(23): 11-26.

YUAN Mingxin, JIANG Weiyu, WANG Wei, LI Jie, SHEN Yi. Optimization of Design Parameters for the Balance Mechanism of the Autonomous Refueling Arm of Tank Trucks for Residual Vibration Suppression[J]. Journal of Mechanical Engineering, 2025, 61(23): 11-26.

参考文献

[1] 谢志江,余欣,胡知诿,等. 3-PSR并联机构运动学和动力学分析[J]. 机床与液压,2021,49(5):9-13.XIE Zhijiang,YU Xin,HU Zhiwei,et al. Kinematics and dynamic analysis of a 3-PSR parallel mechanism[J]. Machine Tool & Hydraulics,2021,49(5):9-13.
[2] 马亮华. 多级伸缩臂码垛机器人刚柔耦合动力学研究[D]. 广州:广州大学,2022.MA Lianghua. Research on the rigid flexible coupling dynamics of multi-level telescopic arm palletizing robot[D]. Guangzhou:Guangzhou University,2022.
[3] SHANG Dongyang,LI Xiaopeng,YIN Meng,et al. Dynamic modeling and RBF neural network compensation control for space flexible manipulator with an underactuated hand[J]. Chinese Journal of Aeronautics,2024,37(3):417-439.
[4] GONG Junjie,CAI Ganwei,WEI Wei,et al. Research on the residual vibration suppression of a controllable mechanism robot[J]. IEEE Access,2022(10):39436-39455.
[5] 李林峻,党旭丹,刘洋. 柔性多关节移动机器人末端残余振动控制研究[J]. 机械设计与制造,2021(9):102-106. LI Linjun,DANG Xudan,LIU Yang. Research on residual vibration control of flexible multi joint mobile robot[J]. Machinery Design & Manufacture,2021(9):102-106.
[6] 戴镇功. 基于磁流变弹性体的机器人加工振动控制研究[D]. 南京:南京理工大学,2023. DAI Zhengong. Investigation on vibration suppression of robot machining based on magnetorheological elastomer[D]. Nanjing:Nanjing University of Science and Technology,2023.
[7] CHU A M,DUONG X B. New development of the dynamic modeling and the inverse dynamic analysis for flexible robot[J]. International Journal of Advanced Robotic Systems,2020,17(4):1-12.
[8] 江镇宇,张欣,曹鹏彬. 基于拉格朗日方程的四足攀爬机器人动力学分析[J]. 机电工程技术,2023,52(8):110-113. JIANG Zhenyu,ZHANG xin,CAO Pengbin. Dynamics analysis of quadruped climbing robot based on lagrange equation[J]. Mechanical & Electrical Engineering Technology,2023,52(8):110-113.
[9] 范纪华,陈立威,王明强,等. 旋转中心刚体-FGM梁刚柔热耦合动力学特性研究[J]. 力学学报,2019,51(6):1905-1917. FAN Jihua,CHEN Liwei,WANG Mingqiang,et al. Research on dynamics of rigid-flexible-thermal coupling rotating Hub-FGM beam[J]. Chinese Journal of Theoretical and Applied Mechanics,2019,51(6):1905-1917.
[10] CHEN Jiahao,HU Zhiqiang,LIU Geliang,et al. Study on rigid-flexible coupling effects of floating offshore wind turbines[J]. China Ocean Engineering,2019,33(1):1-13.
[11] 秦基伟,常勇,袁兵兵,等. 一种滚动密封式爬壁机器人动力学建模与分析[J]. 中国机械工程,2019,30(24):2978-2985. QIN Jiwei,CHANG Yong,YUAN Bingbing,et al. dynamics modeling and analysis of a rolling sealed Wall-climbing robot[J]. China Mechanical Engineering,2019,30(24):2978-2985.
[12] SHAN Xianlei,LI Yuhang,LIU Haitao,et al. Residual vibration reduction of high-speed pick-and-place parallel robot using input shaping[J]. Chinese Journal of Mechanical Engineering,2022,35(1):16.
[13] 张轲忱. 数控连杆机构式机器人平衡特性与稳定性研究[D]. 南宁:广西大学,2023. ZHANG Kechen. Research on balance characteristics and stability of CNC connecting rod mechanism robot[D]. Nanning:Guangxi University,2023.
[14] 张希洋. 复摆颚式破碎机动力学及有限元分析[D]. 太原:太原理工大学,2015. ZHANG Xiyang. Dynamics and finite element analysis of compound pendulum jaw crusher[D]. Taiyuan:Taiyuan University of Technology,2015.
[15] 赵宏跃,史创,郭宏伟,等. 空间大型可展开环形张拉机构动力学特性分析[J]. 机械工程学报,2024,60(12):344-354. ZHAO Hongyue,SHI Chuang,GUO Hongwei,et al. Dynamic characteristics analysis of spatial large deployable annular tensegrity mechanism[J]. Journal of Mechanical Engineering,2024,60(12):344-354.
[16] 杨孝新,肖鹿,杨晓东,等. 大型矿用齿轮传动系统宏观参数动力学优化[J]. 振动与冲击,2024,43(2):179-186. YANG Xiaoxin,XIAO Lu,YAMG Xiaodong,et al. Dynamic optimization of macro parameters of large mining gear transmission system[J]. Journal of Vibration and Shock,2024,43(2):179-186.
[17] GU Zewen,HOU Xiaonan,YE Jianqiao. Design and analysis method of nonlinear helical springs using a combining technique:Finite element analysis,constrained Latin hypercube sampling and genetic programming[J]. Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science,2021,235(22):5917-5930.
[18] MA Linlin,HE Jingwu,GU Yizhuo,et al. Structure design of GFRP composite leaf spring:An experimental and finite element analysis[J]. Polymers,2021,8(13):1193.
[19] 顾龙龙,魏镜弢,肖正明,等. 基于BP神经网络和NSGAⅡ算法的立式搅拌磨机能耗优化[J]. 有色金属(选矿部分),2023(6):80-85. GU Longlong,WEI Jingtao,XIAO Zhengming,et al. Energy consumption optimization of vertical stirred mill based on BP neural network and NSGA-II algorithm[J]. Nonferrous Metals (Mineral Processing Section),2023(6):80-85.
[20] 陶哲,季宁. 基于NSGA-Ⅱ算法的汽车后背门内板拉延成形质量控制与预测[J]. 制造技术与机床,2023(2):134-140. TAO Zhe,JI Ning. Quality control and prediction of drawing forming of automotive back door inner panel based on NSGA-II algorithm[J]. Manufacturing Technology & Machine Tool,2023(2):134-140.
[21] JIANG Zhipeng,GAO Dong,LU Yong,et al. Optimization of cutting parameters for trade-off among carbon emissions,surface roughness,and processing time[J]. Chinese Journal of Mechanical Engineering,2019,32(1):94.
[22] LI Wenyang,WANG Yiwei,TOGO Shunta,et al. Development of a humanoid shoulder based on 3-motor 3 degrees-of-freedom coupled tendon-driven joint module[J]. IEEE Robotics and Automation Letters,2021,6(2):1105-1111.
[23] 李永辉,卢文秀. 大型游乐设施多姿态假人下肢省力驱动设计研究[J]. 机械工程学报,2024,60(1):352-360.LI Yonghui,LU Wenxiu. Design of lower limbs low torque drive for multi-posture dummy in large amusement facilities[J]. Journal of Mechanical Engineering,2024,60(1):352-360.