• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文学位 >Design optimization of long-reach flexible M/m robots using integrated design method.
【24h】

Design optimization of long-reach flexible M/m robots using integrated design method.

机译：使用集成设计方法对远程M / m柔性机器人进行设计优化。

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Traditionally, the mechanical and control design of a robot are performed separately based on various objectives. This research is aimed at enhancing (optimizing) the design of long-reach flexible macro/micro robots by integrating the mechanical and control design stages. The scope of the work is general in the sense that it covers a wide range of applications of such robots.; A framework is provided for the integrated design of flexible macro/micro robots. Nonlinear programming methods are used for generating the optimal values of mechanical and control design variables for given objective functions (performance measures) and design constraints. Formulation of a performance measure for integrated design purposes requires a knowledge of the task requirements, and dynamics and control of the robot. In this context, a modular systematic procedure is proposed for the automatic generation of finite element model of a robot with arbitrary number of flexible/rigid links.; A comparative analysis is performed to establish the advantage of using the Integrated Design Method (IDM) over Traditional Design Method (TDM). The analysis is based on the results of three design case studies. The first case study represents TDM, where the control design is initiated after the mechanical design is completed; and the second and third case studies use IDM to minimize the total mass and tracking error of an unconstrained flexible M/m robot, respectively. The comparative analysis clearly shows the superiority of IDM over TDM.; To facilitate the usage of IDM, performance measures are proposed for different applications of long-reach M/m robots. The applications of such robots are identified and classified into three general groups: non-contact, contact, and bracing; and a performance measure is proposed for each group of applications. The performance measures are general in the sense that they can be applied to robots with various configurations and degrees of freedom.; A type of contact tasks is proposed with a new micro robot configuration. It is shown that, the flexible macro can be designed separately from the rigid micro, and a performance measure is proposed for minimizing the cycle time of the flexible bracing macro by using IDM. To reduce the dynamic forces generated by the micro on the bracing point, a novel conceptual/configuration design of the micro is proposed. The new design of the micro reduces the weight, dynamic interactions between the micro and macro, and simplifies the control design.; This research is a first step towards the integration of specific design processes in order to achieve better products. Some limitations of this work are: (i) the effect of axial load (due to external and centrifugal forces) on the stiffness matrix has been ignored; the validity of this assumption has been numerically verified for the case studies; (ii) the proposed performance measures are formulated based on the linearized closed-loop model of a flexible M/m robot with a simple joint variable PD controller; new formulations of performance measures are required for more complicated non-linear control methods in which the closed-loop system behavior cannot be expressed adequately by the linearized model. The work can be extended by considering a wider variety of tasks, other robot configurations, other control methods, and by integrating other design processes which are part of flexible automation systems.
机译：传统上，基于各种目标分别执行机器人的机械和控制设计。这项研究旨在通过整合机械和控制设计阶段来增强（优化）长距离柔性宏/微型机器人的设计。从涉及此类机器人的广泛应用的意义上说，工作范围是一般性的。提供了用于柔性宏/微型机器人集成设计的框架。对于给定的目标函数（性能指标）和设计约束，非线性编程方法用于生成机械和控制设计变量的最佳值。为集成设计目的制定性能度量需要了解任务要求以及机器人的动力学和控制知识。在这种情况下，提出了一种模块化的系统程序，用于自动生成具有任意数量的柔性/刚性链接的机器人的有限元模型。进行比较分析以建立使用集成设计方法（IDM）优于传统设计方法（TDM）的优势。该分析基于三个设计案例研究的结果。第一个案例研究代表TDM，在机械设计完成后开始控制设计。第二个和第三个案例研究分别使用IDM来使无约束的灵活M / m机器人的总质量和跟踪误差最小。对比分析清楚地表明了IDM优于TDM。为了促进IDM的使用，针对远程M / m机器人的不同应用提出了性能指标。确定了此类机器人的应用并将其分为三大类：非接触，接触和支撑。并针对每组应用程序提出了一项性能指标。从某种意义上说，性能度量是通用的，可以应用于具有各种配置和自由度的机器人。提出了一种具有新的微型机器人配置的接触任务。结果表明，柔性宏可以与刚性微件分开设计，并提出了一种性能指标，以通过使用IDM来最小化柔性支撑宏的循环时间。为了减少由微机在支撑点上产生的动力，提出了一种新颖的微机概念/配置设计。微控制器的新设计减轻了微控制器和宏之间的重量，动态相互作用，并简化了控制设计。这项研究是集成特定设计过程以取得更好产品的第一步。这项工作的一些局限性是：（i）轴向载荷（由于外力和离心力）对刚度矩阵的影响已被忽略；该假设的有效性已通过案例研究进行了数值验证； （ii）基于具有简单关节变量PD控制器的柔性M / m机器人的线性化闭环模型，制定了建议的性能指标；对于更复杂的非线性控制方法，需要新的性能度量公式，在这种方法中，闭环系统的行为无法通过线性化模型充分表达。可以通过考虑各种各样的任务，其他机器人配置，其他控制方法，以及集成作为自动化自动化系统一部分的其他设计过程来扩展工作。

著录项

  • 作者

    Raghibizadeh, Sasan.;

  • 作者单位

    University of Toronto (Canada).;

  • 授予单位 University of Toronto (Canada).;
  • 学科 Applied Mechanics.; Engineering Mechanical.
  • 学位 Ph.D.
  • 年度 1998
  • 页码 153 p.
  • 总页数 153
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 应用力学;机械、仪表工业;
  • 关键词

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号