Balance force parameter optimization design method of mechanical arm follow-up hanging system
A balance force parameter optimization design method for a mechanical arm follow-up hanging system comprises the steps that the configuration and path of a ground test mechanical arm are designed, and a joint angle data file is generated; a parameterized mechanical arm dynamic model is established i...
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Sprache: | chi ; eng |
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Zusammenfassung: | A balance force parameter optimization design method for a mechanical arm follow-up hanging system comprises the steps that the configuration and path of a ground test mechanical arm are designed, and a joint angle data file is generated; a parameterized mechanical arm dynamic model is established in the ADAMS, and a joint angle data file is imported; further establishing a parameterized follow-up hanging system dynamic model; the model is stored as a standard dynamic model and used for calculating the joint torque in the mechanical arm test process under the action of gravity and a follow-up hanging system; and designing a target function, calling the standard dynamical model, and determining the optimal balance force of the follow-up suspension system by adopting an intelligent optimization algorithm.
一种机械臂随动吊挂系统的平衡力参数优化设计方法,包括:设计地面试验机械臂构型和路径,生成关节角度数据文件;ADAMS中建立参数化的机械臂动力学模型,并导入关节角度数据文件;进一步建立参数化的随动吊挂系统动力学模型;保存模型,作为标准动力学模型,用于计算重力和随动吊挂系统作用下,机械臂试验过程的关节力矩;设计目标函数,调用标准动力学模型,采用智能优化算法,确定随动吊挂系统的最优平衡力。 |
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