Impact Performance Optimization of Serial Metamorphic Robot Based on Comprehensive Performance Index

doi:10.3901/JME.2021.23.066

Abstract

Abstract: It has important theoretical significance and practical value to study the stability of serial metamorphic robot in the process of configuration transformation. The impact dynamics model of the serial metamorphic robot was established based on Newton-Euler equation, and the impulse solving model of the serial metamorphic robot was derived from classical collision theory and recovery coefficient equation. Aiming at the stability of configuration transformation, the impact motion performance of the robot was analyzed from three aspects including the speed performance before configuration transformation, the impact performance during configuration transformation and the dynamic performance during configuration transformation, and the corresponding performance indexes were established. By analyzing the robot parameters that affect the performance index, the impact motion performance indexes were classified. And, the parameter optimization design model for comprehensive evaluation index was constructed based on the weight coefficient method. Taking the planar 3-DOF metamorphic robot as an example, the influence of robot parameters on impact motion performance was simulated and optimized. The results show that impact motion performance of the robot can be improved by changing the length and the initial configuration of the rod, which is helpful to improve the stability and safety of the system.

Key words: serial metamorphic robot, configuration transformation, impact motion, performance index, parameter optimization

CLC Number:

TH12

SONG Yanyan, JIN Guoguang, CHANG Boyan, WEI Zhan, LI Bo. Impact Performance Optimization of Serial Metamorphic Robot Based on Comprehensive Performance Index[J]. Journal of Mechanical Engineering, 2021, 57(23): 66-76.

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