Study On Dynamic Optimization Of 3r Serial Handling Manipulater Based On Trajectory

Robots are playing an increasingly important role in today's society,in which the serial manipulator is an irreplaceable role in many fields because of its flexibility.However,the application fields of manipulator are increasing,and the task difficulty is increasing,so that the dynamic performance of the manipulator also need to have more stringent requirements.Therefore,a dynamic optimization method of serial manipulator was proposed,so that manipulator could complete the work of handling materials in better dynamic performance compared with the prototype machine.According to the structure of the prototype machine,the schematic diagram of the manipulator and the actual working space of the production line were drawn.The parametric model of the manipulator was analyzed by D-H transform,and the kinematics parameter equation of 3R serial manipulator was obtained.After the equation was obtained,the forward kinematics solution of the manipulator with parameters was obtained,and then the inverse solution of the manipulator with parameters was obtained by the inverse method,and the random point was chosen as an example to check whether the result was correct.According to the requirement of production,the running track of the end effector of manipulator had been determined.Since the point of the path had been given,we could use the kinematics knowledge to get the change of the joint angles.After the change of each joint angle was known,the cubic interpolation method was used to plan trajectory of the joint.The Lagrange function was used to calculate the joint torque equations of the 3R handling manipulator with parameters.First,the Lagrange function was defined,and the kinetic energy and potential energy were derived from the velocity,finally,the dynamic equation was deduced.The parameters of the model were introduced into the equations,and the equations of the joint torques with parameters could be obtained,and an example was given for subsequent comparison and verification.Based on the production characteristics of manipulator,the appropriate objective function was chosen to optimize the manipulator.The total joint torque was calculated according to each joint torque equation which had been obtained,and the total joint torque with the largest acceleration on trajectory was chosen as the objective function.The appropriate constraint conditions were given,and the dynamic optimization of the manipulator was carried out by the appropriate optimization method,and the structural parameters of the manipulator with better acceleration capability were solved under the objective function.Finally,the Adams simulation software was used to simulate the manipulator,through the comparison of the joint torques of two manipulators,the dynamics performance of the optimized manipulator were improved,and the correctness of the derivation of kinematics,trajectory and dynamics was verified at the same time.In this study,the actual work situation and the robot theory were established together,this paper put forward a more effective solution to improve dynamic performance of the manipulator by optimizing directly on the dynamic model,which opens up new ideas and directions for further study on the optimization of the manipulator.