一种串联机械臂关节空间刚度最优路径求解方法

doi:10.3901/JME.2022.14.054

机械工程学报 ›› 2022, Vol. 58 ›› Issue (14): 54-61.doi: 10.3901/JME.2022.14.054

• 特邀专栏：大型构件视觉测量与机器人加工 • 上一篇下一篇

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一种串联机械臂关节空间刚度最优路径求解方法

马建伟, 孙赫辰, 闫惠腾, 吕琦, 高松

大连理工大学精密与特种加工教育部重点实验室大连 116024

收稿日期:2021-03-26 修回日期:2022-01-15 出版日期:2022-07-20 发布日期:2022-09-07
通讯作者: 马建伟(通信作者)，男，1984年出生，博士，教授，博士研究生导师。主要研究方向为难加工材料曲面加工、激光精密加工、机器人辅助加工规划及控制。E-mail：mjw2011@dlut.edu.cn
作者简介:孙赫辰，男，1998年出生。主要研究方向为机器人系统刚度识别与轨迹优化。E-mail：free_dynasty@163.com;闫惠腾，男，1994年出生，博士研究生。主要研究方向为大型复杂构件机器人辅助加工方法。E-mail：yanhuiteng@mail.dlut.edu.cn;吕琦，男，1996年出生，硕士研究生。主要研究方向为机器人动力学参数辨识和视觉跟踪导引。E-mail：346308962@qq.com;高松，男，1995年出生。主要研究方向为机器人系统运动学和动力学约束下的时间最优轨迹规划。E-mail：657259920@qq.com
基金资助:
国家自然科学基金面上(51975098)和辽宁省“兴辽英才计划”(XLYC1907006，XLYCYSZX1901，XLYC1801008)资助项目。

A Solution Method for Optimal Stiffness Path in Joint Space of Serial Manipulator

MA Jianwei, SUN Hechen, YAN Huiteng, Lü Qi, GAO Song

Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education, Dalian University of Technology, Dalian 116024

Received:2021-03-26 Revised:2022-01-15 Online:2022-07-20 Published:2022-09-07

摘要/Abstract

摘要： 串联机械臂关节空间路径求解是机器人研究领域的热点。然而，现有研究往往欠虑串联机械臂自身弱刚性，致使串联机械臂在给定操作空间路径下关节空间路径选择不当，影响运动精度。为提升串联机械臂在实际工作时刚度，提出一种串联机械臂关节空间刚度最优路径求解方法。首先基于Levenberg-Marquardt (LM)算法求取串联机械臂关节空间路径可行解，进而通过定义串联机械臂刚度性能指标，以刚度性能最大为目标，实现串联机械臂关节空间刚度最优路径求解，最后在6轴串联机械臂上进行方法验证。结果表明，面向相同操作空间路径，提出方法得到的串联机械臂关节空间路径刚度与基于连续迭代的数值法相比提高了50%以上，证明提出方法可有效提升给定操作空间路径下串联机械臂运动刚度，对提高串联机械臂运动精度，抑制变形和颤振，进而实现串联机械臂在机械加工领域的推广与应用具有重要意义。

关键词: 串联机械臂, 刚度, 关节空间路径, 路径规划, 动态性能

Abstract: The solution of the joint space path for the serial manipulator is a research hotspot in robotics. However, most of existing studies often ignore the weak stiffness of the serial manipulator itself, which makes the joint space path selection of the serial manipulator improper under the given operation space path and affects the kinematic accuracy. In order to improve the stiffness of the serial manipulator in actual operation, a solution method for the optimal stiffness path in the joint space of the serial manipulator is proposed. Firstly, the feasible solutions of the joint space path are obtained based on Levenberg-Marquardt (LM) algorithm. Then, by defining the stiffness performance index of the serial manipulator, the optimal stiffness path in the joint space of the serial manipulator is solved with the goal of maximizing the stiffness performance. Finally, the method validation is carried out on a 6-axis serial manipulator. For the same operation space path, the stiffness of the joint space path of the serial manipulator obtained by the proposed method increases by more than 50% compared with the numerical method based on continuous iteration, which shows that the motion stiffness of the serial manipulator under the given operation space path can be improved effectively. The achievements are of great significance to improve the kinematic accuracy for the serial manipulator, suppress deformation and flutter, and realize the promotion and application of the serial manipulator in the field of mechanical processing.

Key words: serial manipulator, stiffness, joint space path, path planning, dynamic performance

中图分类号:

TP24

马建伟, 孙赫辰, 闫惠腾, 吕琦, 高松. 一种串联机械臂关节空间刚度最优路径求解方法[J]. 机械工程学报, 2022, 58(14): 54-61.

MA Jianwei, SUN Hechen, YAN Huiteng, Lü Qi, GAO Song. A Solution Method for Optimal Stiffness Path in Joint Space of Serial Manipulator[J]. Journal of Mechanical Engineering, 2022, 58(14): 54-61.

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一种串联机械臂关节空间刚度最优路径求解方法

A Solution Method for Optimal Stiffness Path in Joint Space of Serial Manipulator

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