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首页> 外文期刊>Shock and vibration >Reducing the Frame Vibration of Delta Robot in Pick and Place Application: An Acceleration Profile Optimization Approach
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Reducing the Frame Vibration of Delta Robot in Pick and Place Application: An Acceleration Profile Optimization Approach

机译：减少在拾取和放置应用中Delta机器人的框架振动：加速曲线优化方法

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摘要

Delta robot is typically mounted on a frame and performs high speed pick and place tasks from top to bottom. Because of its outstanding accelerating capability and higher center of mass, the Delta robot can generate significant frame vibration. Existing trajectory smoothing methods mainly focus on vibration reduction for the robot instead of the frame, and modifying the frame structure increases the manufacturing cost. In this paper, an acceleration profile optimization approach is proposed to reduce the Delta robot-frame vibration. The profile is determined by the maximum jerk, acceleration, and velocity. The pick and place motion (PPM) and resulting frame vibration are analyzed in frequency domain. Quantitative analysis shows that frame vibration can be reduced by altering those dynamic motion parameters. Because the analytic model is derived based on several simplifications, it cannot be directly applied. A surrogate model-based optimization method is proposed to solve the practical issues. By directly executing the PPM with different parameters and measuring the vibration, a model is derived using Gaussian Process Regression (GPR). In order to reduce the frame vibration without sacrificing robot efficiency, those two goals are fused together according to their priorities. Based on the surrogate model, a single objective optimization problem is formulated and solved by Genetic Algorithm(GA). Experimental results show effectiveness of the proposed method. Behavior of the optimal parameters also verifies the robot-frame vibration mechanism.
机译：Delta机器人通常安装在框架上，并从上到下执行高速拾取和放置任务。由于其出色的加速能力和较高的质心，Delta机器人可以产生明显的框架振动。现有的轨迹平滑方法主要集中在减小机器人的振动而不是机架上，并且修改机架结构会增加制造成本。本文提出了一种加速度分布优化方法，以减少Delta机器人框架的振动。轮廓由最大加速度，加速度和速度确定。在频域中分析拾放运动（PPM）和产生的帧振动。定量分析表明，可以通过更改那些动态运动参数来减少框架振动。由于分析模型是基于几种简化派生的，因此无法直接应用。提出了一种基于代理模型的优化方法来解决实际问题。通过直接执行具有不同参数的PPM并测量振动，可以使用高斯过程回归（GPR）得出模型。为了在不牺牲机器人效率的情况下减少框架振动，将这两个目标根据其优先级融合在一起。基于代理模型，用遗传算法（GA）提出并解决了单目标优化问题。实验结果表明了该方法的有效性。最佳参数的行为也验证了机器人框架的振动机制。

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  • 来源
    《Shock and vibration》 |2018年第5期|2945314.1-2945314.15|共15页
  • 作者

    Cheng Hongtai; Li Wei;

  • 作者单位

    Dalian Univ Technol, Dept Elect Engn, Dalian, Liaoning, Peoples R China;

    Northeastern Univ, Dept Mech Engn & Automat, Shenyang 110819, Liaoning, Peoples R China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
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