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变胞机构发生构态变换时,不可避免地会造成冲击,严重时将导致系统失稳。因此需要对变胞机构进行动力学优化研究,降低变胞机构构态变换时受到的冲击力,提高变胞机构的动态稳定性,对变胞机构在实际应用中的推广至关重要。以面向任务可控变胞式码垛机器人机构系统为研究对象,在实际运行下机构系统在单自由度和两自由度构态变换时的全构态非线性动态模型的基础上,考虑机构属性、材料参数、控制参数以及内冲击激励对机构系统动态性能的影响,运用遗传算法对系统进行动力学优化,先后针对系统的机构属性和材料参数建立了参数优化数学模型,运用遗传算法对系统进过优化计算,提高了系统的动力学性能。
When the change of configuration occurs in the variable organization, it will inevitably cause an impact and in severe cases it will cause the system to become unstable. Therefore, it is necessary to study the dynamic optimization of the variable mechanism, reduce the impact of the change of the mechanism of the variable mechanism, and improve the dynamic stability of the variable mechanism, which is very important to the popularization of the variable mechanism in practical application. Based on the task-oriented controllable cell stacking robot mechanism system, under actual operation, based on the all-structure nonlinear dynamic model of single-degree-of-freedom and two-degree-of- , Material parameters, control parameters and the impact of internal impact excitation on the dynamic performance of the mechanical system, the genetic algorithm is used to optimize the system dynamics. The mathematical model of the parameter optimization has been established according to the system attributes and material parameters of the system. The genetic algorithm After optimization calculation, improve the system dynamics performance.