基于正交设计的协作机器人全域结构优化设计

doi:10.13229/j.cnki.jdxbgxb20190838

吉林大学学报(工学版) ›› 2021, Vol. 51 ›› Issue (1): 370-378.doi: 10.13229/j.cnki.jdxbgxb20190838

• 通信与控制工程 • 上一篇

基于正交设计的协作机器人全域结构优化设计

胡明伟^1,^2,³(),王洪光^1,²(),潘新安^1,²

^1.中国科学院沈阳自动化研究所机器人学国家重点实验室，沈阳 110016
^2.中国科学院机器人与智能制造创新研究院，沈阳 110169
^3.中国科学院大学，北京 100049

收稿日期:2019-08-24 出版日期:2021-01-01 发布日期:2021-01-20
通讯作者: 王洪光 E-mail:mingweihu@yeah.net;hgwang@sia.cn
作者简介:胡明伟（1990-），男，博士研究生.研究方向：机械电子. E-mail：mingweihu@yeah.net
基金资助:
国家自然科学基金重点项目(51535008);国家自然科学基金项目(51405482);国家发改委新一代信息基础设施建设工程和“互联网+”重大工程项目(2017-210103-73-03-000009);中国科学院重点部署项目(KGZD-EW-608-1)

Global structural optimization design of collaborative robots using orthogonal design

Ming-wei HU^1,^2,³(),Hong-guang WANG^1,²(),Xin-an PAN^1,²

^1.State Key Laboratory of Robotics，Shenyang Institute of Automation，Chinese Academy of Sciences，Shenyang 110016，China
^2.Institutes for Robotics and Intelligent Manufacturing，Chinese Academy of Sciences，Shenyang 110169，China
^3.University of Chinese Academy of Sciences，Beijing 100049，China

Received:2019-08-24 Online:2021-01-01 Published:2021-01-20
Contact: Hong-guang WANG E-mail:mingweihu@yeah.net;hgwang@sia.cn

摘要/Abstract

摘要：

为解决时变位姿和建模精度对机器人结构优化的影响，提出了一种有限元与解析法相结合的机器人实时模态分析方法，能够实时、高效、高精度地获得机器人任意位姿下的固有频率和振型。同时为降低计算量，实现全域结构优化，基于正交设计提出了一种以机器人质量与全域一阶固有频率比（M/GF）为优化目标、以机器人结构尺寸为优化变量的全域动态性能结构优化设计方法。优化结果表明：优化后的M/GF指标比优化前提高了9.90%，优化后的全域一阶固有频率指标比优化前提高了0.91 Hz。

关键词: 机械电子工程, 正交设计, 协作机器人, 固有频率

Abstract:

To dispose of the influence of time-varying configurations and modeling accuracy on robot structural optimization， a Real-time Modal Analysis （RMA） method for collaborative robots was propose， which combines the finite element method and analytical method. This method could real-time obtain the natural frequencies and mode shapes of robots in any pose with high efficiency and precision. To reduce the calculating amount and realize global structure optimization， based on orthogonal design， a global structural optimization design method of collaborative robots was proposed with the structure parameters as optimization variables and the ratio of robot mass to the global first natural frequency index （M/GF） as optimization objective. The M/GF indexes of SHIR5 robot before and after optimization are calculated. The index after optimization is 9.90% higher than that before optimization， and the global first natural frequency index （GFNFI） is increased by 0.91Hz compared with that before optimization.

Key words: mechatronic engineering, orthogonal design, collaborative robots, natural frequency

中图分类号:

TP241

胡明伟,王洪光,潘新安. 基于正交设计的协作机器人全域结构优化设计[J]. 吉林大学学报(工学版), 2021, 51(1): 370-378.

Ming-wei HU,Hong-guang WANG,Xin-an PAN. Global structural optimization design of collaborative robots using orthogonal design[J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(1): 370-378.

图/表 10

图1

图2

图3

表1

表2

L27(313)正交试验表"

No.	T₁	T₂	T₃	T₄	T₅	T₆	T₇	T₈	T₉	T₁₀	T₁₁	L1	L2	M/kg	GFNFI/Hz	M/GF
1	1	1	1	1	1	1	1	1	1	1	1	1	1	21.06	7.90	2.67
2	1	1	1	1	2	2	2	2	2	2	2	2	2	21.62	8.21	2.63
3	1	1	1	1	3	3	3	3	3	3	3	3	3	22.20	8.37	2.65
4	1	2	2	2	1	1	1	2	2	2	3	3	3	21.41	7.89	2.71
5	1	2	2	2	2	2	2	3	3	3	1	1	1	21.93	8.22	2.67
6	1	2	2	2	3	3	3	1	1	1	2	2	2	21.84	8.26	2.64
7	1	3	3	3	1	1	1	3	3	3	2	2	2	21.77	7.94	2.74
8	1	3	3	3	2	2	2	1	1	1	3	3	3	21.67	8.01	2.71
9	1	3	3	3	3	3	3	2	2	2	1	1	1	22.19	8.34	2.66
10	2	1	2	3	1	2	3	1	3	2	1	2	3	21.73	7.97	2.73
11	2	1	2	3	2	3	1	2	1	3	2	3	1	21.70	8.16	2.66
12	2	1	2	3	3	1	2	3	2	1	3	1	2	21.85	8.23	2.65
13	2	2	3	1	1	2	3	2	1	3	3	1	2	21.67	8.07	2.68
14	2	2	3	1	2	3	1	3	2	1	1	2	3	21.75	8.33	2.61
15	2	2	3	1	3	1	2	1	3	2	2	3	1	21.76	7.86	2.77
16	2	3	1	2	1	2	3	3	2	1	2	3	1	21.78	8.23	2.64
17	2	3	1	2	2	3	1	1	3	2	3	1	2	21.78	8.04	2.71
18	2	3	1	2	3	1	2	2	1	3	1	2	3	21.72	8.18	2.66
19	3	1	3	2	1	3	2	1	2	3	1	3	2	21.78	7.97	2.73
20	3	1	3	2	2	1	3	2	3	1	2	1	3	21.93	8.08	2.72
21	3	1	3	2	3	2	1	3	1	2	3	2	1	21.93	8.24	2.66
22	3	2	1	3	1	3	2	2	3	1	3	2	1	21.89	8.18	2.68
23	3	2	1	3	2	1	3	3	1	2	1	3	2	21.87	8.25	2.65
24	3	2	1	3	3	2	1	1	2	3	2	1	3	21.87	8.04	2.72
25	3	3	2	1	1	3	2	3	1	2	2	1	3	21.84	8.33	2.62
26	3	3	2	1	2	1	3	1	2	3	3	2	1	21.86	7.88	2.77
27	3	3	2	1	3	2	1	2	3	1	1	3	2	21.92	8.20	2.67
R	0.14	0.09	0.27	0.11	0.11	0.37	0.04	0.54	0.38	0.29	0.19	0.10	0.06
Level	7	11	5	9	8	3	13	1	2	4	6	10	12
最优水平	1	1	1	1	3	3	2	3	1	1	1	1	3
T	0.32	0.11	1.09	0.18	0.20	2.31	0.03	6.77	2.42	1.34373	0.5120	0.155	0.06
Influence	No	No	No	No	No	No	No	Yes	No	No	No	No	No
Significance level 方正汇总行 $α = 0.1 ? ? ? ? ? ? ? ? ? F α (r - 1, n - r) = F 0.1 (2,24) = 2.54$

表2

图4

表3

图5

图6

图7

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基于正交设计的协作机器人全域结构优化设计

Global structural optimization design of collaborative robots using orthogonal design

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水平	T₁	T₂	T₃	T₄	T₅	T₆	T₇	T₈	T₉	T₁₀	T₁₁	L1	L2
1	2.5	2	1.5	3.5	3.5	3.5	3.5	2.5	2.5	2.2	2.2	223	222
2	3	2.5	2	4	4	4	4	3	3	2.5	2.5	203	202
3	3.5	3	2.5	4.5	4.5	4.5	4.5	3.5	3.5	2.8	2.8	183	182

	T₁	T₂	T₃	T₄	T₅	T₆	T₇	T₈	T₉	T₁₀	T₁₁	L1	L2	M/kg	GFNFI/Hz	M/GF
原始值	3	3	2.5	4.5	3.5	3.5	3.5	2.5	3.5	2.8	2.8	183	222	21.60	7.65	2.82
优化值	2.5	2	1.5	3.5	4.5	4.5	4	3.5	2.5	2.2	2.2	223	182	21.78	8.56	2.54

水平	T₁	T₂	T₃	T₄	T₅	T₆	T₇	T₈	T₉	T₁₀	T₁₁	L1	L2
1	2.5	2	1.5	3.5	3.5	3.5	3.5	2.5	2.5	2.2	2.2	223	222
2	3	2.5	2	4	4	4	4	3	3	2.5	2.5	203	202
3	3.5	3	2.5	4.5	4.5	4.5	4.5	3.5	3.5	2.8	2.8	183	182

水平	T₁	T₂	T₃	T₄	T₅	T₆	T₇	T₈	T₉	T₁₀	T₁₁	L1	L2
1	2.5	2	1.5	3.5	3.5	3.5	3.5	2.5	2.5	2.2	2.2	223	222
2	3	2.5	2	4	4	4	4	3	3	2.5	2.5	203	202
3	3.5	3	2.5	4.5	4.5	4.5	4.5	3.5	3.5	2.8	2.8	183	182