Flexibility Optimization of Five-DOF Manipulator for Explosive Ordnance Disposal Robot
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摘要: 针对传统机器人操作臂灵活度优化方法忽略了获取机器人雅克比矩阵奇异值，导致操作臂灵活度过程效率降低，排爆准确度得不到明显提高。提出排爆机器人五自由度操作臂灵活度优化方法。首先对操作臂构造动力学模型，获取拉格朗日动力学方程及相关参数，对姿态概率系数和可操作度进行描述。以五自由度操作臂工作球为基础分析操作臂姿态概率系数；针对操作臂的可操作度，通过排爆机器人雅克比矩阵奇异值实现构造，建立操作臂在工作空间内的灵活度优化目标函数，通过遗传算法对目标函数进行求解，实现排爆机器人操作臂灵活度的优化。实验结果表明，所提方法优化性能佳，可有效提高操作臂灵活度。Abstract: The traditional robot manipulator flexibility optimization method ignores the acquisition of the singular value of the Jacobi matrix, which reduces the efficiency of the manipulator's flexibility and the accuracy of the explosion. The flexibility optimization method of five-DOF manipulator is put forward. First, the dynamic model of the manipulator is constructed, and the Lagrange dynamic equation and relevant parameters are obtained, and the probability coefficient and operability of the attitude are described. Based on the working ball of five degrees of freedom manipulator, the attitude probability coefficient of the manipulator is analyzed. According to the operability of the manipulator, the bizarre value of Jacobian matrix is constructed, the flexibility of the manipulator is optimized in the working space, and the target function is solved by the genetic algorithm. The experimental results show that the proposed method has better performance and can effectively improve the flexibility of the manipulator.
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Key words:
- explosive ordnance disposal robot /
- five degrees of freedom /
- manipulator /
- flexibility /
- optimization
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表 1 各杆臂参数
编号 li αi di θi 1 0 0 0 [-90°, 90°] 2 14.5 mm -90° 0 [-180°, 0°] 3 451.0 mm 0 0 [0°, 160°] 4 470.0 mm 0 0 [-180°, 60°] 5 -15.0 mm -90° 225 mm [-90°, 90°] 
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