CN113505455B - Mechanical arm design method, mechanical arm design device, computer equipment and readable storage medium - Google Patents

Mechanical arm design method, mechanical arm design device, computer equipment and readable storage medium Download PDF

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CN113505455B
CN113505455B CN202110857139.8A CN202110857139A CN113505455B CN 113505455 B CN113505455 B CN 113505455B CN 202110857139 A CN202110857139 A CN 202110857139A CN 113505455 B CN113505455 B CN 113505455B
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mechanical arm
design parameters
joint driver
connecting rod
determining
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CN113505455A (en
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李景辰
丁宏钰
范文华
黄亮
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Ubicon Qingdao Technology Co ltd
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Ubicon Qingdao Technology Co ltd
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    • G06F—ELECTRIC DIGITAL DATA PROCESSING
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    • G06F30/27—Design optimisation, verification or simulation using machine learning, e.g. artificial intelligence, neural networks, support vector machines [SVM] or training a model
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/06—Multi-objective optimisation, e.g. Pareto optimisation using simulated annealing [SA], ant colony algorithms or genetic algorithms [GA]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/20—Design reuse, reusability analysis or reusability optimisation

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Abstract

The embodiment of the invention discloses a mechanical arm design method, a device, computer equipment and a readable storage medium, wherein the method comprises the steps of designing a plurality of groups of mechanical arm design parameters according to the target degree of freedom of the mechanical arm, and determining mechanical arm performance evaluation indexes corresponding to each group of mechanical arm design parameters according to a preset mechanical arm optimization target and preset mechanical arm limiting conditions; and optimizing a plurality of groups of mechanical arm design parameters according to the mechanical arm optimization target, the mechanical arm limiting conditions and the mechanical arm performance evaluation indexes, and selecting a group of mechanical arm design parameters which meet the mechanical arm limiting conditions and are closest to the mechanical arm optimization target from the optimized plurality of groups of mechanical arm design parameters. The mechanical arm design scheme is provided from nothing to nothing, and the flexibility of mechanical arm design is improved.

Description

Mechanical arm design method, mechanical arm design device, computer equipment and readable storage medium
Technical Field
The present invention relates to the field of mechanical arms, and in particular, to a mechanical arm design method, a device, a computer device, and a readable storage medium.
Background
At present, some mechanical arms (such as kineva) are very lightweight in design, but relatively poor in rigidity, repeated positioning accuracy, operation space and the like; some robotic arms (e.g., HC10 and dosan) are heavy and therefore cumbersome to design for heavy duty functions; some robotic arm (e.g., UR) designs take full account of the flexibility and accuracy of operation, but are relatively heavy compared to robotic arms that are lightweight; some robotic arm (e.g., large family) designs are pursued for modularity, low cost, ease of assembly, etc., but have low operational flexibility. The existing mechanical arms are quite different in configuration, structural design, driver design and the like, so that the differences in performance exist. If one wishes to redesign a mechanical arm based on certain performance requirements, how to choose the design direction to optimize the design objective remains a challenging problem.
Disclosure of Invention
In view of the above, the present invention proposes a mechanical arm design method, apparatus, computer device, and readable storage medium.
The application provides a mechanical arm design method, which comprises the following steps:
determining a plurality of groups of mechanical arm design parameters according to the target degree of freedom of the mechanical arm, wherein each group of mechanical arm design parameters is used for designing one type of mechanical arm;
Determining a mechanical arm performance evaluation index corresponding to each group of mechanical arm design parameters according to a preset mechanical arm optimization target and preset mechanical arm limiting conditions;
optimizing a plurality of groups of mechanical arm design parameters according to the mechanical arm optimization target, the mechanical arm limiting conditions and the corresponding mechanical arm performance evaluation indexes;
and selecting a group of mechanical arm design parameters which meet the mechanical arm limiting conditions and are closest to the mechanical arm optimizing target from the optimized multiple groups of mechanical arm design parameters.
According to the mechanical arm design method, each group of mechanical arm design parameters comprise joint rotating shaft directions of all joint drivers of the mechanical arm, center positions of all joint drivers, connection modes of all connecting rods and corresponding joint drivers and attribute parameters related to quality of all connecting rods.
According to the mechanical arm design method, the joint rotating shaft direction of each joint driver of the mechanical arm in each group of mechanical arm design parameters is determined according to the target degree of freedom of the mechanical arm, and the method comprises the following steps:
under the condition that joint rotating shafts of all joint drivers of the mechanical arm are located on the same plane:
determining all first binarization codes of the joint rotation axis direction according to the target degree of freedom, wherein the length of the first binarization codes is equal to the target degree of freedom, the J-th code of the first binarization codes represents the joint rotation axis direction of the J-th joint driver of the mechanical arm, J is more than or equal to 1 and less than or equal to J, and J represents the total number of the joint drivers of the mechanical arm.
According to the mechanical arm design method, the connection mode of each connecting rod of the mechanical arm in each group of mechanical arm design parameters and the corresponding joint driver is determined according to the mechanical arm target degree of freedom, and the method comprises the following steps:
and determining all second binarization codes of the connection modes according to the target degree of freedom, wherein the length of the second binarization codes is equal to the target degree of freedom, the first bit code of the second binarization codes represents the connection mode between the first connecting rod and the operation table and the first joint driver of the mechanical arm, the J bit code represents the connection mode between the J connecting rod and the J-1 joint driver and the J joint driver, and J is more than or equal to 2 and less than or equal to J, and J represents the total number of the joint drivers of the mechanical arm.
According to the mechanical arm design method, when the mechanical arm optimization target is that the total mechanical arm mass is minimum and the mechanical arm operation space is maximum, and the mechanical arm limiting condition is that the total mechanical arm rigidity meets a preset range, the corresponding mechanical arm performance evaluation index comprises mechanical arm total mass, mechanical arm total rigidity and mechanical arm operation space corresponding to each group of mechanical arm design parameters, and the determining of the mechanical arm performance evaluation index corresponding to each group of mechanical arm design parameters comprises the following steps:
Determining an ith mechanical arm configuration according to the joint rotating shaft direction of each joint driver of the mechanical arm corresponding to the ith mechanical arm design parameter, the center position of each joint driver, the connection mode of each connecting rod and the corresponding joint driver and the attribute parameters related to the quality of each connecting rod, wherein I is more than or equal to 1 and less than or equal to I, and I represents the design parameter of the I mechanical arm;
determining a joint driver and a manipulator operation space of minimum mass corresponding to the design parameters of the ith group of manipulator according to the configuration of the ith manipulator;
determining the outer diameter of each connecting rod according to the joint driver with the minimum mass corresponding to the design parameters of the ith group of mechanical arms;
determining the total mass of the mechanical arm corresponding to the design parameters of the mechanical arm of the ith group according to the joint driver of the minimum mass corresponding to the design parameters of the mechanical arm of the ith group, the outer diameter of each connecting rod and the attribute parameters related to the mass of each connecting rod;
and determining the total stiffness of the mechanical arm corresponding to the design parameters of the mechanical arm of the ith group according to the outer diameter of each connecting rod corresponding to the design parameters of the mechanical arm of the ith group and the attribute parameters related to the quality of each connecting rod.
According to the mechanical arm design method, the joint driver with the minimum mass corresponding to the mechanical arm design parameters of the ith group is determined according to the mechanical arm configuration of the ith group, and the method comprises the following steps:
When the mechanical arm is in the ith mechanical arm configuration and each joint driver of the mechanical arm is a kth joint driver, determining maximum moment and average moment corresponding to the kth joint driver by using a preset method, wherein the kth joint driver is a joint driver to be judged, K is more than or equal to 2 and less than or equal to K, and K represents K joint drivers;
if the maximum moment corresponding to the kth joint driver is larger than a first moment threshold value and the average moment is larger than a second moment threshold value, taking the kth-1 joint driver as the joint driver to be judged, and continuously determining the maximum moment and the average moment corresponding to the kth-1 joint driver by using the preset method until the joint driver with the maximum moment larger than the first moment threshold value, the average moment larger than the second moment threshold value and the minimum mass is determined, wherein the mass of the kth-1 joint driver is smaller than that of the kth joint driver;
the preset method comprises the following steps:
acquiring a preset motion track of the mechanical arm, the mass of the joint driver to be judged, the rotational inertia of the joint driver to be judged and the maximum bearing of the tail end of the mechanical arm;
determining the weight of the corresponding connecting rod and the moment of inertia of the corresponding connecting rod according to the joint driver to be judged;
And determining the maximum moment and the average moment in the process of completing the preset movement track of the mechanical arm corresponding to the ith mechanical arm configuration according to the mass of the joint driver to be judged, the rotational inertia of the joint driver to be judged, the maximum bearing of the tail end of the mechanical arm, the mass of the corresponding connecting rod and the rotational inertia of the corresponding connecting rod.
According to the mechanical arm design method, each connecting rod is a hollow cylinder, and the total rigidity of the mechanical arm corresponding to the mechanical arm design parameter of the ith group is determined according to the outer diameter of each connecting rod corresponding to the mechanical arm design parameter of the ith group and the attribute parameters related to the quality of each connecting rod, and the method comprises the following steps:
determining pulling and pressing deformation generated by axial component force of the tail end of each connecting rod, torsional deformation generated by axial moment, bending deformation generated by normal component force and bending deformation generated by normal moment according to the outer diameter of each connecting rod and the attribute parameters related to the quality of each connecting rod corresponding to the design parameters of the ith group of mechanical arms by utilizing a material mechanics theory;
and calculating the total rigidity of the mechanical arm corresponding to the design parameters of the mechanical arm of the ith group according to the pulling and pressing deformation generated by the axial component force of all the tail ends of the connecting rods corresponding to the design parameters of the mechanical arm of the ith group, the torsional deformation generated by the axial moment, the bending deformation generated by the normal component force and the bending deformation generated by the normal moment.
The method for designing the mechanical arm, according to the ith mechanical arm configuration, determines the operation space of the mechanical arm, and comprises the following steps:
uniformly collecting a plurality of space positions in a preset space region;
determining the reachability between the tail end of the mechanical arm corresponding to the design parameters of the i-th group of mechanical arms and each spatial position;
and representing the corresponding manipulator operation space by utilizing a plurality of spatial positions which can be reached by the tail end of the manipulator corresponding to the design parameters of the ith group of manipulator.
The application also proposes a mechanical arm design device, the device includes:
the parameterization module is used for determining a plurality of groups of mechanical arm design parameters according to the target degree of freedom of the mechanical arm, and each group of mechanical arm design parameters is used for designing one type of mechanical arm;
the determining module is used for determining mechanical arm performance evaluation indexes corresponding to each group of mechanical arm design parameters according to a preset mechanical arm optimization target and preset mechanical arm limiting conditions;
the optimizing module is used for optimizing a plurality of groups of mechanical arm design parameters according to the mechanical arm optimizing target, the mechanical arm limiting conditions and the corresponding mechanical arm performance evaluation indexes;
and the selection module is used for selecting a group of mechanical arm design parameters which meet the mechanical arm limiting conditions and are closest to the mechanical arm optimization target from the optimized multiple groups of mechanical arm design parameters.
The present application also proposes a computer device comprising a memory and a processor, the memory storing a computer program which, when run on the processor, performs the method of robotic arm design described herein.
The present application also proposes a readable storage medium storing a computer program which, when run on a processor, performs the robot arm design method described herein.
According to the method, multiple groups of mechanical arm design parameters are designed according to the mechanical arm target degree of freedom, and mechanical arm performance evaluation indexes corresponding to each group of mechanical arm design parameters are determined according to preset mechanical arm optimization targets and preset mechanical arm limiting conditions; and optimizing a plurality of groups of mechanical arm design parameters according to the mechanical arm optimization target, the mechanical arm limiting conditions and the corresponding mechanical arm performance evaluation indexes, selecting a group of mechanical arm design parameters which meet the mechanical arm limiting conditions and are closest to the mechanical arm optimization target from the optimized plurality of groups of mechanical arm design parameters, and designing the mechanical arm according to a group of mechanical arm design parameters which meet the mechanical arm limiting conditions and are closest to the mechanical arm optimization target. The method and the device do not depend on the existing mechanical arm, overcome the limitations of the existing mechanical arm in terms of structure, driver type and the like, provide a design scheme of the mechanical arm from nothing to nothing, determine the optimal mechanical arm according to the mechanical arm limiting conditions preset by a designer and the mechanical arm optimization target, and improve the flexibility of the mechanical arm design.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are required for the embodiments will be briefly described, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope of the present invention. Like elements are numbered alike in the various figures.
Fig. 1 is a schematic flow chart of a method for designing a mechanical arm according to an embodiment of the present application;
FIG. 2 illustrates a cross-sectional view of a robotic arm link according to an embodiment of the present application;
fig. 3 shows a schematic diagram of a first binary encoding of the joint rotation axis direction of each joint driver of the mechanical arm according to the embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a connection manner between each link of a mechanical arm and a corresponding joint driver according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram illustrating another connection mode between each link of a mechanical arm and a corresponding joint driver according to an embodiment of the present disclosure;
FIG. 6 shows a schematic diagram of an optimization solution proposed by an embodiment of the present application;
FIG. 7 shows a force-bearing schematic diagram of a hollow cylinder according to an embodiment of the present application;
FIG. 8 is a schematic view showing the influence of a hollow cylinder on the deformation of the tail end of a mechanical arm according to the embodiment of the application;
fig. 9 shows a schematic structural diagram of a mechanical arm design device according to an embodiment of the present application;
fig. 10 shows a schematic structural diagram of a computer device according to an embodiment of the present application.
Description of main reference numerals:
10-a mechanical arm design device; 11-a parameterization module; 12-a determination module; 13-an optimization module; 14-a selection module; 100-a computer device; 110-memory; 120-processor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
The terms "comprises," "comprising," "including," or any other variation thereof, are intended to cover a specific feature, number, step, operation, element, component, or combination of the foregoing, which may be used in various embodiments of the present invention, and are not intended to first exclude the presence of or increase the likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the invention belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the invention.
The existing method for optimizing the design of the mechanical arm is generally based on a preliminary design scheme, and provides quantitative and better design based on the existing design scheme, for example, based on the existing mechanical arm, such as UR5 or some simpler mechanical arm design schemes, the predetermined optimization targets are achieved by optimizing and selecting the structural dimensions of key components, the types of drivers, the length of the joint rod, control parameters and the like (for example, the predetermined optimization targets may include maximum operation space, minimum total weight of the mechanical arm, most energy saving, safest, and structural rigidity meeting predetermined conditions). However, existing robotic arms may be limited in terms of structural design, driver selection, etc., resulting in the fact that predetermined optimization objectives may not be achieved based on existing robotic arms.
The method comprises the steps of designing a plurality of groups of mechanical arm design parameters according to the target freedom degree of the mechanical arm, and determining mechanical arm performance evaluation indexes corresponding to each group of mechanical arm design parameters according to a preset mechanical arm optimization target and preset mechanical arm limiting conditions; and optimizing a plurality of groups of mechanical arm design parameters according to the mechanical arm optimization target, the mechanical arm limiting conditions and the corresponding mechanical arm performance evaluation indexes, selecting a group of mechanical arm design parameters which meet the mechanical arm limiting conditions and are closest to the mechanical arm optimization target from the optimized plurality of groups of mechanical arm design parameters, and designing the mechanical arm according to a group of mechanical arm design parameters which meet the mechanical arm limiting conditions and are closest to the mechanical arm optimization target. The mechanical arm design method is independent of an existing mechanical arm, overcomes the limitations of the existing mechanical arm in terms of structure, driver type and the like, provides a mechanical arm design scheme from nothing to nothing, can determine the optimal mechanical arm according to mechanical arm limiting conditions and mechanical arm optimization targets preset by a designer, and improves the flexibility of mechanical arm design.
Example 1
In one embodiment of the present application, as shown in fig. 1, a robot arm design method is provided, which includes the following steps:
s100: and determining a plurality of groups of mechanical arm design parameters according to the target degree of freedom of the mechanical arm, wherein each group of mechanical arm design parameters is used for designing one type of mechanical arm.
The target degree of freedom of the mechanical arm may be input to the computer device by a designer, so that the computer device obtains the target degree of freedom of the mechanical arm, and determines a plurality of sets of design parameters of the mechanical arm according to the target degree of freedom of the mechanical arm. For example, if the target degree of freedom of the manipulator is 6, it may be determined that the manipulator includes 6 joints, 6 links, that is, a link between the console of the manipulator and the first joint driver is denoted as a first link, a link between the J-th joint driver and the j+1th joint driver is denoted as a j+1th link, and 1. Ltoreq.j.ltoreq.j-1, J represents the total number of joints of the manipulator, that is, the total number of joint drivers.
Further, each set of mechanical arm design parameters includes a joint rotation axis direction of each joint driver of the mechanical arm, a center position of each joint driver, a connection mode of each connecting rod and the corresponding joint driver, and attribute parameters related to quality of each connecting rod. Wherein, the attribute parameters of each connecting rod related to the quality comprise the length of each connecting rod, the thickness of each connecting rod, the connecting rod material and other attributes.
Exemplary, as shown in FIG. 2, a cross-sectional view of a cylindrical mechanical arm link is shown, the outside diameter of the link is denoted as D, the inside diameter of the link is denoted as D, and the thickness of the link is denoted as k 2 . Wherein the outer and inner diameters of the connecting rod are determined by the type of joint driver.
Exemplary, the joint rotation axis direction of each joint driver of the mechanical arm in each set of mechanical arm design parameters may be determined according to the mechanical arm target degree of freedom, where the joint rotation axes of each joint driver of the mechanical arm are located on the same plane: determining all first binarization codes of the joint rotation axis direction according to the target degree of freedom, wherein the length of the first binarization codes is equal to the target degree of freedom, the J-th code of the first binarization codes represents the joint rotation axis direction of the J-th joint driver of the mechanical arm, J is more than or equal to 1 and less than or equal to J, and J represents the total number of the joint drivers of the mechanical arm.
Further, the joint rotation axis in the horizontal direction may be defined as 0 in advance; defining a joint rotation axis in the vertical direction as 1; the predefined codes corresponding to the joint axes of the respective joint drivers may be arranged in sequence according to the connection order of the respective joints to determine the first binary code.
As shown in fig. 3, the first binary code corresponding to the joint rotation axis direction of each joint driver of the mechanical arm UR5 is 01101, and the first binary code corresponding to the joint rotation axis direction of each joint driver of the mechanical arm HC10 is 01010.
Further, for the robot arm with the target degree of freedom n, there are 2 possible cases in the joint rotation axis direction of each joint driver, and therefore, there are 2 robot arms with the target degree of freedom n n And each first binarization code corresponds to the joint rotating shaft direction of each joint driver of one mechanical arm.
Of course, the joint rotation axis in the horizontal direction may be defined as 1 in advance; the joint rotating shaft in the vertical direction is defined as 0, so long as different values of the joint rotating shaft in the horizontal direction and the joint rotating shaft in the vertical direction are ensured, the calculation efficiency of the computer equipment can be improved through two-dimensional parameterization coding, and the computer equipment can quickly and accurately determine the basic configuration of the mechanical arm.
Further, the connection mode between each connecting rod of the mechanical arm and the corresponding joint driver in each set of design parameters of the mechanical arm can be determined according to the target degree of freedom of the mechanical arm, including: and determining all second binarization codes of the connection modes according to the target degree of freedom, wherein the length of the second binarization codes is equal to the target degree of freedom, the first bit code of the second binarization codes represents the connection mode between the first connecting rod and the operation table and the first joint driver of the mechanical arm, the J bit code represents the connection mode between the J connecting rod and the J-1 joint driver and the J joint driver, and J is more than or equal to 2 and less than or equal to J, and J represents the total number of joints of the mechanical arm.
For example, the link between the manipulator and the first joint driver may be referred to as a first link; the link between the j-th joint driver and the j+1-th joint driver may be referred to as the j+1-th link.
When j=1, if the first joint driver moves along with the first connecting rod, defining the connection mode of the first connecting rod and the operation table of the mechanical arm and the first joint driver as 1; if the first joint driver moves with the second link, the connection between the first link and the console and the first joint driver is defined as 0.
When j is greater than 1, if the j-th joint driver moves along with the j-th connecting rod, defining the connection mode of the j-th connecting rod and the j-th joint driver and the j+1-th joint driver as 0; if the j-th joint driver moves along with the j+1th connecting rod, the connection mode of the j-th connecting rod and the j+1th joint driver is defined as 1.
Further, if the connection mode is 0, the connection mode of the j+1th link corresponding to the j-th joint driver and the j+1th joint driver is as shown in fig. 4, and the j+1th link can only be connected out from the end of the j-th joint driver; if the connection mode is 1, the connection mode of the j+1th link to the j-th joint driver and the j+1th joint driver may be as shown in fig. 4, or as shown in fig. 5, the j+1th link may be vertically connected from the middle of the j-th joint driver.
Exemplary, the second binarization code corresponding to the robot arm UR5 is 110000, and the second binarization code corresponding to the large family robot arm is 101010.
Further, for the manipulator with the target degree of freedom n, 2 kinds of possible situations exist in the connection manner of each connecting rod and the corresponding joint driver, so that the manipulator with the target degree of freedom n has 2 n Second binary codes, each second binary code corresponding to each connecting rod of one mechanical arm and corresponding relationThe connection mode of the section driver.
Of course, the following predefined connection schemes may also be made: when j=1, if the first joint driver moves along with the first connecting rod, defining the connection mode of the first connecting rod and the operation table of the mechanical arm and the first joint driver as 0; if the first joint driver moves along with the second connecting rod, defining the connection mode of the first connecting rod and the operation table as 1; when j is greater than 1, if the j-th joint driver moves along with the j-th connecting rod, defining the connection mode of the j-th connecting rod and the j-th joint driver and the j+1-th joint driver as 1; if the j-th joint driver moves along with the j+1th connecting rod, the connection mode of the j-th connecting rod and the j+1th joint driver is defined as 0. As long as different connection modes are defined as different values, the computer equipment can quickly and accurately determine the basic configuration of the mechanical arm through two-dimensional parametric coding.
S200: and determining the mechanical arm performance evaluation index corresponding to each group of mechanical arm design parameters according to the preset mechanical arm optimization target and the preset mechanical arm limiting conditions.
The robot arm optimization objectives may be varied, for example, the robot arm flexibility is the highest, the total robot arm mass is the lowest, the robot arm operating space is the highest, the robot arm total stiffness is the lowest, etc. There may also be multiple robot arm optimization objectives, for example, the minimum total robot arm mass and the maximum robot arm operating space. The robot arm limiting conditions may be various, for example, the total stiffness of the robot arm satisfies a predetermined range, the total mass of the robot arm satisfies a predetermined range, the robot arm operating space satisfies a predetermined range, and the like. The mechanical arm optimization target and the mechanical arm limiting condition are set by considering the realizability of the mechanical arm configuration in actual design, and compared with other methods for simply analyzing the configuration, the scheme for designing the mechanical arm according to the preset mechanical arm optimization target and the preset mechanical arm limiting condition avoids the problem that the configuration is over-ideal and is difficult to realize in actual practice.
For example, the mechanical arm optimization target may be that the total mechanical arm mass is minimum and the mechanical arm operation space is maximum, and the mechanical arm limiting condition may be that the total mechanical arm rigidity meets a predetermined range, and the corresponding mechanical arm performance evaluation index includes that each set of mechanical arm design parameters corresponds to the total mechanical arm mass, the total mechanical arm rigidity and the mechanical arm operation space.
Further, when the mechanical arm optimization target is that the total mechanical arm mass is minimum and the mechanical arm operation space is maximum, and the mechanical arm limiting condition is that the total mechanical arm rigidity meets a predetermined range, the corresponding mechanical arm performance evaluation index includes the total mechanical arm mass, the total mechanical arm rigidity and the mechanical arm operation space corresponding to each set of mechanical arm design parameters, and the determining the mechanical arm performance evaluation index corresponding to each set of mechanical arm design parameters includes:
the configuration of the ith mechanical arm can be determined according to the joint rotating shaft direction of each joint driver of the mechanical arm corresponding to the design parameters of the ith mechanical arm, the central position of each joint driver, the connection mode of each connecting rod and the corresponding joint driver and the attribute parameters related to the quality of each connecting rod, I is more than or equal to 1 and less than or equal to I, and I represents the design parameters of the I mechanical arm; determining a joint driver and a manipulator operation space of minimum mass corresponding to the design parameters of the ith group of manipulator according to the configuration of the ith manipulator; determining the outer diameter of each connecting rod according to the joint driver with the minimum mass corresponding to the design parameters of the ith group of mechanical arms; determining the total mass of the mechanical arm corresponding to the design parameters of the mechanical arm of the ith group according to the joint driver of the minimum mass corresponding to the design parameters of the mechanical arm of the ith group, the outer diameter of each connecting rod and the attribute parameters related to the mass of each connecting rod; and determining the total stiffness of the mechanical arm corresponding to the design parameters of the mechanical arm of the ith group according to the outer diameter of each connecting rod corresponding to the design parameters of the mechanical arm of the ith group and the attribute parameters related to the quality of each connecting rod.
It can be understood that the total mass of the mechanical arm determined according to the joint driver with the minimum mass corresponding to the design parameters of the i-th group of mechanical arms, the outer diameter of each connecting rod and the attribute parameters related to the mass of each connecting rod may be different from the actual total mass of the mechanical arm, but as a transversal comparison index, the influence of each group of design parameters of the mechanical arm on the total mass of the mechanical arm can be measured.
S300: and optimizing a plurality of groups of mechanical arm design parameters according to the mechanical arm optimization target, the mechanical arm limiting conditions and the corresponding mechanical arm performance evaluation indexes.
Because of the nonlinear relationship between each set of mechanical arm design parameters and mechanical arm performance evaluation indexes, a genetic algorithm, a particle swarm algorithm, a weighted objective function, or other optimization algorithms can be utilized to optimize a plurality of sets of mechanical arm design parameters according to a preset mechanical arm optimization target, a preset mechanical arm limiting condition and mechanical arm performance evaluation indexes corresponding to each set of mechanical arm design parameters.
And an intelligent optimization algorithm (a genetic algorithm or a particle swarm algorithm or a weighted objective function or other optimization algorithms) is adopted to optimize a plurality of groups of mechanical arm design parameters according to the mechanical arm optimization target, the mechanical arm limiting conditions and the corresponding mechanical arm performance evaluation indexes, so that the influence of subjective and experience of different designers can be avoided.
S400: and selecting a group of mechanical arm design parameters which meet the mechanical arm limiting conditions and are closest to the mechanical arm optimizing target from the optimized multiple groups of mechanical arm design parameters.
For example, if the mechanical arm optimization objective is that the total mechanical arm mass is the minimum and the operation space is the maximum, the pareto optimal (Pareto Optimality) solution corresponding to the optimized multiple sets of mechanical arm design parameters is shown in fig. 6, and the ordinate is the operation space index (which is the operation space index determined by performing reciprocal and normalization on the number of reachable points), so that the smaller the operation space index, the larger the operation space. The abscissa represents the total mass of the robotic arm. In fig. 6, the operation space corresponding to each point on the right side of the point a is approximately the same as the operation space corresponding to the point a, however, the total mass of the mechanical arm corresponding to each point on the right side of the point a is obviously increased, and if the total mass of the mechanical arm is minimum and the operation space is maximum as the mechanical arm optimization target, the optimized set of mechanical arm design parameters corresponding to the point a can be used for designing the mechanical arm.
According to the method, multiple groups of mechanical arm design parameters are designed according to mechanical arm target degrees of freedom, multiple groups of mechanical arm design parameters are optimized according to preset mechanical arm optimization targets, preset mechanical arm limiting conditions, joint drivers corresponding to the mechanical arm design parameters of each group, total mechanical arm mass, total mechanical arm rigidity and mechanical arm operation space, a group of mechanical arm design parameters meeting the mechanical arm limiting conditions and closest to the mechanical arm optimization targets is selected from the optimized multiple groups of mechanical arm design parameters, and a mechanical arm is designed according to a group of mechanical arm design parameters meeting the mechanical arm limiting conditions and closest to the mechanical arm optimization targets. The technical scheme of the embodiment does not depend on the existing mechanical arm, overcomes the limitations of the existing mechanical arm in terms of structure, driver type and the like, provides a design scheme of the mechanical arm from nothing to nothing, can determine the optimal mechanical arm according to the mechanical arm limiting conditions preset by a designer and the mechanical arm optimization target, and improves the flexibility of mechanical arm design.
Example 2
One embodiment of the present application proposes a method of determining a minimum mass joint driver, the method comprising:
when the mechanical arm is in the ith mechanical arm configuration and each joint driver of the mechanical arm is a kth joint driver, determining the maximum moment and the average moment corresponding to the joint driver to be judged (the kth joint driver) at the moment by using a preset method, wherein K is more than or equal to 2 and less than or equal to K, and K represents K joint drivers.
If the maximum moment corresponding to the kth joint driver is larger than the first moment threshold and the average moment is larger than the second moment threshold, taking the kth-1 joint driver as the joint driver to be judged, and continuously determining the maximum moment and the average moment corresponding to the joint driver to be judged (the kth-1 joint driver) at the moment by using a preset method until the joint driver with the maximum moment larger than the first moment threshold, the average moment larger than the second moment threshold and the minimum mass is determined, wherein the mass of the kth-1 joint driver is smaller than the mass of the kth joint driver.
If the maximum moment corresponding to the kth joint driver is smaller than or equal to the first moment threshold or the average moment is smaller than or equal to the second moment threshold, taking the kth+1th joint driver as the joint driver to be judged, and continuously determining the maximum moment and the average moment corresponding to the joint driver to be judged (the kth+1th joint driver) at the moment by using a preset method until the joint driver with the maximum moment larger than the first moment threshold, the average moment larger than the second moment threshold and the minimum mass is determined, wherein the mass of the kth+1th joint driver is larger than the mass of the kth joint driver.
Further, the preset method includes: acquiring a preset motion track of the mechanical arm, the mass of the joint driver to be judged, the rotational inertia of the joint driver to be judged and the maximum bearing of the tail end of the mechanical arm; determining the weight of the corresponding connecting rod and the moment of inertia of the corresponding connecting rod according to the joint driver to be judged; and determining the maximum moment and the average moment of the mechanical arm corresponding to the ith mechanical arm configuration in the process of completing the preset motion trail according to the mass of the joint driver to be judged, the rotational inertia of the joint driver to be judged, the maximum bearing of the tail end of the mechanical arm, the mass of the corresponding connecting rod and the rotational inertia of the corresponding connecting rod by utilizing a Newton motion equation.
In the process that the mechanical arm completes the preset motion track, the model of the joint driver and the output torque are related in a coupling way, and the larger the mass of the joint driver is, the larger the output torque is, so that the joint driver meeting the preset condition and having the minimum mass can be determined through iterative calculation.
Example 3
In one embodiment of the present application, assuming that each connecting rod is a hollow cylinder, determining, according to an outer diameter of each connecting rod corresponding to the design parameter of the ith group of mechanical arms and an attribute parameter related to quality of each connecting rod, a total stiffness of the mechanical arms corresponding to the design parameter of the ith group of mechanical arms includes:
Determining pulling and pressing deformation generated by axial component force of the tail end of each connecting rod, torsional deformation generated by axial moment, bending deformation generated by normal component force and bending deformation generated by normal moment according to the outer diameter of each connecting rod and the attribute parameters related to the quality of each connecting rod corresponding to the design parameters of the ith group of mechanical arms by utilizing a material mechanics theory; and calculating the total rigidity of the mechanical arm corresponding to the design parameters of the mechanical arm of the ith group according to the pulling and pressing deformation generated by the axial component force of all the tail ends of the connecting rods corresponding to the design parameters of the mechanical arm of the ith group, the torsional deformation generated by the axial moment, the bending deformation generated by the normal component force and the bending deformation generated by the normal moment.
By way of example, since the individual links of the mechanical arm are simplified to hollow cylinders, each link may comprise a section of hollow cylinder or may comprise a plurality of sections of hollow cylinder, the stiffness of which may be estimated using the theory of material mechanics. And according to the superposition principle, the deformation of each section of hollow cylinder at the tail end is superposed, namely the total deformation of the mechanical arm at the tail end is used as the measurement of the total rigidity of the mechanical arm. The load to which each hollow cylinder is subjected includes the weight of its sub-joint driver and the weight of the end load, and various conditions under different attitudes can be considered. In general, as shown in FIG. 7, for a section of hollow cylinder, the point of action is at P f At the arm end position P e The deformation (displacement) generated at this point can be obtained by the following method:
first, defining the axial unit vector of the hollow cylinder as r a The direction is from the fixed end (near the arm base) to the loaded end (near the arm end). The load can be decomposed into an axial component and a normal component f=f a r a +f r r r ，r r Is the corresponding normal unit vector (see fig. 8). The moment generated by the load is m= (p f -p l ) Xf, where p l Is the position vector of the loaded end of the hollow cylinder. The moment can also be decomposed into an axial component and a normal component m=m a r a +M r r m Wherein r is m ＝r a ×r r . Referring to FIG. 8, an axial force component generates a tension-compression deformation d ten Torsional deformation d is generated by axial moment tor Bending deformation by normal force componentAnd normal force moment generationBending deformation>In FIG. 8
The tensile and compressive deformation calculation formula is as follows:where L is the length of the hollow cylinder, E is the Young's modulus of the material, and A is the cross-sectional area of the hollow cylinder.
The torsion angle calculation formula generated by torsion isWhere G is the shear modulus of the material and Ip is the polar moment of inertia of the cross section to its center.
The axial moment generates torsion deformation intoWherein R represents a rotation about a given axis R a Rotated by a given angle theta tor The resulting rotation matrix.
The bending deflection generated by the normal force moment isThe bending deflection generated by the normal moment is respectivelyWherein I is the moment of inertia of the cross section to the neutral axis.
The bending angle generated by the normal force isThe bending transfer angles generated by the normal moment are respectively
Further, the displacement of the normal force generated at the tail end of the mechanical arm is as follows:
further, the displacement generated by the normal moment at the tail end of the mechanical arm is as follows:
the deformation (displacement) of the p-th hollow cylinder of the j-th connecting rod at the tail end is as follows:
the sum of the deformations of the j-th connecting rod at the tail end of the mechanical arm isP denotes that the j-th connecting rod includes a total of P hollow cylinders.
By the method, superposition of deformation of each section of hollow cylinder of each connecting rod at the tail end of the mechanical arm can be determined. In summary, the total deformation of all the connecting rods at the tail end of the mechanical arm can be obtained, and then the total rigidity of the mechanical arm can be determined. The method is used for estimating the total stiffness of the mechanical arm under the condition of given mechanical arm design parameters, and the total stiffness of the mechanical arm possibly has a difference with the total stiffness of the mechanical arm actually designed, but can be used as a transverse comparison index to measure the influence of the mechanical arm design parameters on the total stiffness of the mechanical arm.
Example 4
The manipulator operating space needs to be analyzed by inverse kinematics. Inverse kinematics is a method of calculating joint angles knowing the 6-degree-of-freedom pose of the tip. The operation space can be analyzed by judging whether the space position can be reached by the existence of inverse kinematics solution. Generally, if the last joint rotation can range from 0 to 2 pi, the front joint is calculated from the direction of the arm end Angle of the node. According to the homogeneous transformation method, the pose of the tail end of the mechanical arm relative to the world coordinate system can be obtained through a chain ruleWherein (1)>Representing the homogeneous transformation matrix of the j-th joint to the j-1 th joint, including translation and rotation. Wherein rotation includes relative position of the joint in the original configuration and rotation of the joint itself. The rotation angles of the first five joints are included, but the sixth joint is not considered. There are 5 unknowns to the equation. In addition, the translation components at the two sides of the equation are respectively equal, so that 3 equations can be obtained. Wherein the rotational component determines the direction of the tip, i.eTo the right of the equation is the unit vector of the terminal direction. The components are respectively equal, 3 equations can be obtained, but only two mutually independent equations can be obtained. A total of 5 equations are thus available to solve for 5 unknowns. />
The solution of the system of nonlinear equations can be solved using newton's iteration. Since only one set of solutions can be obtained for a given initial value, there are actually multiple sets of possible solutions. Therefore, the solution is carried out for a plurality of times, the range from the initial value to the solution is recorded for each solution, and the initial value is given out of the range when the solution is carried out next time. There is at least one set of feasible solutions that meet the requirements, i.e. indicate that the spatial location can be reached.
Judging the feasibility of the solution needs to meet the collision-free condition. Because the outer contours of the driver and the connecting rod of the mechanical arm can be expressed by columns, whether interference occurs between every two can be judged to determine collision-free conditions. While taking into account the necessary obstacles in the environment, etc.
The calculation method of the operation space comprises the following steps: the accessibility determination is made by sampling uniformly within the space of interest, the more locations that are reachable, the greater the operating space.
Exemplary, a plurality of spatial locations are uniformly acquired within a predetermined spatial region; determining the reachability between the tail end of the mechanical arm corresponding to the design parameters of the i-th group of mechanical arms and each spatial position; and representing the corresponding manipulator operation space by utilizing a plurality of spatial positions which can be reached by the tail end of the manipulator corresponding to the design parameters of the ith group of manipulator.
Example 5
In one embodiment of the present application, as shown in fig. 9, a mechanical arm design apparatus 10 is proposed, which includes: a parameterization module 11, a determination module 12, an optimization module 13 and a selection module 14.
The parameterization module 11 is configured to determine a plurality of groups of mechanical arm design parameters according to a target degree of freedom of the mechanical arm, where each group of mechanical arm design parameters is used for designing a mechanical arm; the determining module 12 is configured to determine an arm performance evaluation index corresponding to each set of arm design parameters according to a preset arm optimization target and a preset arm constraint condition; the optimizing module 13 is configured to optimize a plurality of groups of mechanical arm design parameters according to the mechanical arm optimizing target, the mechanical arm limiting condition and the corresponding mechanical arm performance evaluation index; a selection module 14, configured to select a set of robot design parameters that meets the robot constraint condition and is closest to the robot optimization objective from the optimized sets of robot design parameters.
Further, the design parameters of each group of mechanical arm include the direction of the joint rotation axis of each joint driver of the mechanical arm, the center position of each joint driver, the connection mode of each connecting rod and the corresponding joint driver, and the attribute parameters related to the quality of each connecting rod.
Further, determining the joint rotation axis direction of each joint driver of the mechanical arm in each set of mechanical arm design parameters according to the target degree of freedom of the mechanical arm includes: under the condition that joint rotating shafts of all joint drivers of the mechanical arm are located on the same plane: determining all first binarization codes of the joint rotating shaft direction according to the target degree of freedom, wherein the length of the first binarization codes is equal to the target degree of freedom, the J-th code of the first binarization codes represents the joint rotating shaft direction of a J-th joint driver of the mechanical arm, J is more than or equal to 1 and less than or equal to J, and J represents the total number of joints of the mechanical arm.
Further, determining a connection mode of each link of the mechanical arm in each set of mechanical arm design parameters and a corresponding joint driver according to the target degree of freedom of the mechanical arm includes: and determining all second binarization codes of the connection modes according to the target degree of freedom, wherein the length of the second binarization codes is equal to the target degree of freedom, the first bit code of the second binarization codes represents the connection mode between the first connecting rod and the operation table and the first joint driver of the mechanical arm, the J bit code represents the connection mode between the J connecting rod and the J-1 joint driver and the J joint driver, and J is more than or equal to 2 and less than or equal to J, and J represents the total number of joints of the mechanical arm.
Further, when the mechanical arm optimization target is that the total mechanical arm mass is minimum and the mechanical arm operation space is maximum, and the mechanical arm limiting condition is that the total mechanical arm rigidity meets a predetermined range, the corresponding mechanical arm performance evaluation index includes the total mechanical arm mass, the total mechanical arm rigidity and the mechanical arm operation space corresponding to each set of mechanical arm design parameters, and the determining the mechanical arm performance evaluation index corresponding to each set of mechanical arm design parameters includes: determining an ith mechanical arm configuration according to the joint rotating shaft direction of each joint driver of the mechanical arm corresponding to the ith mechanical arm design parameter, the center position of each joint driver, the connection mode of each connecting rod and the corresponding joint driver and the attribute parameters related to the quality of each connecting rod, wherein I is more than or equal to 1 and less than or equal to I, and I represents the design parameter of the I mechanical arm; determining a joint driver and a manipulator operation space of minimum mass corresponding to the design parameters of the ith group of manipulator according to the configuration of the ith manipulator; determining the outer diameter of each connecting rod according to the joint driver with the minimum mass corresponding to the design parameters of the ith group of mechanical arms; determining the total mass of the mechanical arm corresponding to the design parameters of the mechanical arm of the ith group according to the joint driver of the minimum mass corresponding to the design parameters of the mechanical arm of the ith group, the outer diameter of each connecting rod and the attribute parameters related to the mass of each connecting rod; and determining the total rigidity of the corresponding mechanical arm according to the outer diameter of each connecting rod and the attribute parameters of each connecting rod related to the quality.
Further, determining the joint driver with the minimum mass corresponding to the design parameter of the ith group of mechanical arms according to the configuration of the ith mechanical arm comprises: when the mechanical arm is in the ith mechanical arm configuration and each joint driver of the mechanical arm is a kth joint driver, determining maximum moment and average moment corresponding to the kth joint driver by using a preset method, wherein the kth joint driver is a joint driver to be judged, K is more than or equal to 2 and less than or equal to K, and K represents K joint drivers; if the maximum moment corresponding to the kth joint driver is larger than the first moment threshold and the average moment is larger than the second moment threshold, the kth-1 joint driver is used as the joint driver to be judged, the maximum moment and the average moment corresponding to the kth-1 joint driver are continuously determined by a preset method until the joint driver with the maximum moment larger than the first moment threshold, the average moment larger than the second moment threshold and the minimum mass is determined, and the mass of the kth-1 joint driver is smaller than that of the kth joint driver.
Further, the preset method includes: acquiring a preset motion track of the mechanical arm, the mass of the joint driver to be judged, the rotational inertia of the joint driver to be judged and the maximum bearing of the tail end of the mechanical arm; determining the weight of the corresponding connecting rod and the moment of inertia of the corresponding connecting rod according to the joint driver to be judged; and determining the maximum moment and the average moment in the process of completing the preset movement track of the mechanical arm corresponding to the ith mechanical arm configuration according to the mass of the joint driver to be judged, the rotational inertia of the joint driver to be judged, the maximum bearing of the tail end of the mechanical arm, the mass of the corresponding connecting rod and the rotational inertia of the corresponding connecting rod.
Further, each connecting rod is a hollow cylinder, and determining the total stiffness of the mechanical arm corresponding to the design parameter of the mechanical arm of the ith group according to the outer diameter of each connecting rod corresponding to the design parameter of the mechanical arm of the ith group and the attribute parameters related to the quality of each connecting rod comprises the following steps: determining pulling and pressing deformation generated by axial component force of the tail end of each connecting rod, torsional deformation generated by axial moment, bending deformation generated by normal component force and bending deformation generated by normal moment according to the outer diameter of each connecting rod and the attribute parameters related to the quality of each connecting rod corresponding to the design parameters of the ith group of mechanical arms by utilizing a material mechanics theory; and calculating the total rigidity of the mechanical arm corresponding to the design parameters of the mechanical arm of the ith group according to the pulling and pressing deformation generated by the axial component force of all the tail ends of the connecting rods corresponding to the design parameters of the mechanical arm of the ith group, the torsional deformation generated by the axial moment, the bending deformation generated by the normal component force and the bending deformation generated by the normal moment.
Further, determining a manipulator operating space according to the ith manipulator configuration includes: uniformly collecting a plurality of space positions in a preset space region; determining the reachability between the tail end of the mechanical arm corresponding to the design parameters of the i-th group of mechanical arms and each spatial position; and representing the corresponding manipulator operation space by utilizing a plurality of spatial positions which can be reached by the tail end of the manipulator corresponding to the design parameters of the ith group of manipulator.
The mechanical arm design device 10 disclosed in this embodiment is configured to execute the mechanical arm design method described in the foregoing embodiment through the cooperation of the parameterization module 11, the determination module 12, the optimization module 13 and the selection module 14, and the implementation and the beneficial effects related to the foregoing embodiment are also applicable in this embodiment, which is not repeated herein.
As shown in fig. 10, the present application further proposes a computer device 100, including a memory 110 and a processor 120, where the memory 110 stores a computer program, and the computer program executes the mechanical arm design method described herein when running on the processor 120.
The present application also relates to a readable storage medium storing a computer program which, when run on a processor, performs the robot arm design method described herein.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, of the flow diagrams and block diagrams in the figures, which illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules or units in various embodiments of the invention may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned readable storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention.

Claims (8)

1. A method of robotic arm design, the method comprising:
determining a plurality of groups of mechanical arm design parameters according to the target degree of freedom of the mechanical arm, wherein each group of mechanical arm design parameters is used for designing one type of mechanical arm; the design parameters of each group of mechanical arm comprise the joint rotating shaft direction of each joint driver of the mechanical arm, the center position of each joint driver, the connection mode of each connecting rod and the corresponding joint driver and the attribute parameters related to the quality of each connecting rod;
determining a mechanical arm performance evaluation index corresponding to each group of mechanical arm design parameters according to a preset mechanical arm optimization target and preset mechanical arm limiting conditions; when the mechanical arm optimization target is that the total mechanical arm mass is minimum and the mechanical arm operation space is maximum, and the mechanical arm limiting condition is that the total mechanical arm rigidity meets a preset range, the corresponding mechanical arm performance evaluation index comprises the total mechanical arm mass, the total mechanical arm rigidity and the mechanical arm operation space corresponding to each group of mechanical arm design parameters; optimizing a plurality of groups of mechanical arm design parameters according to the mechanical arm optimization target, the mechanical arm limiting conditions and the corresponding mechanical arm performance evaluation indexes;
Selecting a group of mechanical arm design parameters which meet the mechanical arm limiting conditions and are closest to the mechanical arm optimizing target from the optimized multiple groups of mechanical arm design parameters;
the determining the mechanical arm performance evaluation index corresponding to each group of mechanical arm design parameters comprises the following steps:
determining an ith mechanical arm configuration according to the joint rotating shaft direction of each joint driver of the mechanical arm corresponding to the ith mechanical arm design parameter, the center position of each joint driver, the connection mode of each connecting rod and the corresponding joint driver and the attribute parameters related to the quality of each connecting rod, wherein I is more than or equal to 1 and less than or equal to I, and I represents the design parameter of the I mechanical arm;
determining a joint driver and a manipulator operation space of minimum mass corresponding to the design parameters of the ith group of manipulator according to the configuration of the ith manipulator;
determining the outer diameter of each connecting rod according to the joint driver with the minimum mass corresponding to the design parameters of the ith group of mechanical arms;
determining the total mass of the mechanical arm corresponding to the design parameters of the mechanical arm of the ith group according to the joint driver of the minimum mass corresponding to the design parameters of the mechanical arm of the ith group, the outer diameter of each connecting rod and the attribute parameters related to the mass of each connecting rod;
Determining the total stiffness of the mechanical arm corresponding to the design parameters of the mechanical arm of the ith group according to the outer diameter of each connecting rod corresponding to the design parameters of the mechanical arm of the ith group and the attribute parameters related to the quality of each connecting rod;
determining a manipulator operating space according to the ith manipulator configuration, including:
uniformly collecting a plurality of space positions in a preset space region;
determining the reachability between the tail end of the mechanical arm corresponding to the design parameters of the i-th group of mechanical arms and each spatial position;
and representing the corresponding manipulator operation space by utilizing a plurality of spatial positions which can be reached by the tail end of the manipulator corresponding to the design parameters of the ith group of manipulator.
2. The method of claim 1, wherein determining joint axis of rotation directions of respective joint drivers of the robotic arm in each set of robotic arm design parameters based on the robotic arm target degrees of freedom comprises:
under the condition that joint rotating shafts of all joint drivers of the mechanical arm are located on the same plane:
determining all first binarization codes of the joint rotation axis direction according to the target degree of freedom, wherein the length of the first binarization codes is equal to the target degree of freedom, the J-th code of the first binarization codes represents the joint rotation axis direction of the J-th joint driver of the mechanical arm, J is more than or equal to 1 and less than or equal to J, and J represents the total number of the joint drivers of the mechanical arm.
3. The method of claim 1, wherein designing the connection between each link of the robotic arm and the corresponding joint driver in each set of robotic arm design parameters according to the target degree of freedom of the robotic arm comprises:
and determining all second binarization codes of the connection modes according to the target degree of freedom, wherein the length of the second binarization codes is equal to the target degree of freedom, the first bit code of the second binarization codes represents the connection mode between the first connecting rod and the operation table and the first joint driver of the mechanical arm, the J bit code represents the connection mode between the J connecting rod and the J-1 joint driver and the J joint driver, and J is more than or equal to 2 and less than or equal to J, and J represents the total number of the joint drivers of the mechanical arm.
4. The method of claim 1, wherein determining a joint driver of a minimum mass corresponding to the i-th set of arm design parameters from the i-th arm configuration comprises:
when the mechanical arm is in the ith mechanical arm configuration and each joint driver of the mechanical arm is a kth joint driver, determining maximum moment and average moment corresponding to the kth joint driver by using a preset method, wherein the kth joint driver is a joint driver to be judged, K is more than or equal to 2 and less than or equal to K, and K represents K joint drivers;
If the maximum moment corresponding to the kth joint driver is larger than a first moment threshold value and the average moment is larger than a second moment threshold value, taking the kth-1 joint driver as the joint driver to be judged, and continuously determining the maximum moment and the average moment corresponding to the kth-1 joint driver by using the preset method until the joint driver with the maximum moment larger than the first moment threshold value, the average moment larger than the second moment threshold value and the minimum mass is determined, wherein the mass of the kth-1 joint driver is smaller than that of the kth joint driver;
the preset method comprises the following steps:
acquiring a preset motion track of the mechanical arm, the mass of the joint driver to be judged, the rotational inertia of the joint driver to be judged and the maximum bearing of the tail end of the mechanical arm;
determining the mass of the corresponding connecting rod and the moment of inertia of the corresponding connecting rod according to the joint driver to be judged;
and determining the maximum moment and the average moment in the process of completing the preset movement track of the mechanical arm corresponding to the ith mechanical arm configuration according to the mass of the joint driver to be judged, the rotational inertia of the joint driver to be judged, the maximum bearing of the tail end of the mechanical arm, the mass of the corresponding connecting rod and the rotational inertia of the corresponding connecting rod.
5. The method for designing a mechanical arm according to claim 1, wherein each connecting rod is a hollow cylinder, and the determining the total stiffness of the mechanical arm corresponding to the design parameter of the mechanical arm of the i-th group according to the outer diameter of each connecting rod corresponding to the design parameter of the mechanical arm of the i-th group and the attribute parameter related to the quality of each connecting rod comprises:
determining pulling and pressing deformation generated by axial component force of the tail end of each connecting rod, torsional deformation generated by axial moment, bending deformation generated by normal component force and bending deformation generated by normal moment according to the outer diameter of each connecting rod and the attribute parameters related to the quality of each connecting rod corresponding to the design parameters of the ith group of mechanical arms by utilizing a material mechanics theory;
and calculating the total rigidity of the mechanical arm corresponding to the design parameters of the mechanical arm of the ith group according to the pulling and pressing deformation generated by the axial component force of all the tail ends of the connecting rods corresponding to the design parameters of the mechanical arm of the ith group, the torsional deformation generated by the axial moment, the bending deformation generated by the normal component force and the bending deformation generated by the normal moment.
6. A robotic arm design apparatus, the apparatus comprising:
the parameterization module is used for determining a plurality of groups of mechanical arm design parameters according to the target degree of freedom of the mechanical arm, and each group of mechanical arm design parameters is used for designing one type of mechanical arm; the design parameters of each group of mechanical arm comprise the joint rotating shaft direction of each joint driver of the mechanical arm, the center position of each joint driver, the connection mode of each connecting rod and the corresponding joint driver and the attribute parameters related to the quality of each connecting rod;
The determining module is used for determining mechanical arm performance evaluation indexes corresponding to each group of mechanical arm design parameters according to a preset mechanical arm optimization target and preset mechanical arm limiting conditions; when the mechanical arm optimization target is that the total mechanical arm mass is minimum and the mechanical arm operation space is maximum, and the mechanical arm limiting condition is that the total mechanical arm rigidity meets a preset range, the corresponding mechanical arm performance evaluation index comprises the total mechanical arm mass, the total mechanical arm rigidity and the mechanical arm operation space corresponding to each group of mechanical arm design parameters;
the determining the mechanical arm performance evaluation index corresponding to each group of mechanical arm design parameters comprises the following steps:
determining an ith mechanical arm configuration according to the joint rotating shaft direction of each joint driver of the mechanical arm corresponding to the ith mechanical arm design parameter, the center position of each joint driver, the connection mode of each connecting rod and the corresponding joint driver and the attribute parameters related to the quality of each connecting rod, wherein I is more than or equal to 1 and less than or equal to I, and I represents the design parameter of the I mechanical arm;
determining a joint driver and a manipulator operation space of minimum mass corresponding to the design parameters of the ith group of manipulator according to the configuration of the ith manipulator;
determining the outer diameter of each connecting rod according to the joint driver with the minimum mass corresponding to the design parameters of the ith group of mechanical arms;
Determining the total mass of the mechanical arm corresponding to the design parameters of the mechanical arm of the ith group according to the joint driver of the minimum mass corresponding to the design parameters of the mechanical arm of the ith group, the outer diameter of each connecting rod and the attribute parameters related to the mass of each connecting rod;
determining the total stiffness of the mechanical arm corresponding to the design parameters of the mechanical arm of the ith group according to the outer diameter of each connecting rod corresponding to the design parameters of the mechanical arm of the ith group and the attribute parameters related to the quality of each connecting rod;
determining a manipulator operating space according to the ith manipulator configuration, including:
uniformly collecting a plurality of space positions in a preset space region;
determining the reachability between the tail end of the mechanical arm corresponding to the design parameters of the i-th group of mechanical arms and each spatial position;
representing a corresponding mechanical arm operation space by utilizing a plurality of spatial positions which can be reached by the tail end of the mechanical arm corresponding to the design parameters of the mechanical arm in the ith group;
the optimizing module is used for optimizing a plurality of groups of mechanical arm design parameters according to the mechanical arm optimizing target, the mechanical arm limiting conditions and the corresponding mechanical arm performance evaluation indexes;
and the selection module is used for selecting a group of mechanical arm design parameters which meet the mechanical arm limiting conditions and are closest to the mechanical arm optimization target from the optimized multiple groups of mechanical arm design parameters.
7. A computer device comprising a memory and a processor, the memory storing a computer program that, when run on the processor, performs the robot arm design method of any one of claims 1 to 5.
8. A readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs the robot arm design method according to any one of claims 1 to 5.
CN202110857139.8A 2021-07-28 2021-07-28 Mechanical arm design method, mechanical arm design device, computer equipment and readable storage medium Active CN113505455B (en)

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