WO2023005067A1 - 机械臂设计方法、装置、计算机设备和可读存储介质 - Google Patents

机械臂设计方法、装置、计算机设备和可读存储介质 Download PDF

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WO2023005067A1
WO2023005067A1 PCT/CN2021/131461 CN2021131461W WO2023005067A1 WO 2023005067 A1 WO2023005067 A1 WO 2023005067A1 CN 2021131461 W CN2021131461 W CN 2021131461W WO 2023005067 A1 WO2023005067 A1 WO 2023005067A1
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manipulator
mechanical arm
design parameters
joint driver
connecting rod
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PCT/CN2021/131461
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English (en)
French (fr)
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李景辰
丁宏钰
范文华
黄亮
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优必康(青岛)科技有限公司
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Publication of WO2023005067A1 publication Critical patent/WO2023005067A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/17—Mechanical parametric or variational design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • 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

Definitions

  • the present application relates to the field of manipulators, and in particular to a design method, device, computer equipment and readable storage medium for a manipulator.
  • manipulators such as kinova
  • some manipulators are designed to be very light, but their stiffness, repeat positioning accuracy and operating space are relatively poor
  • some manipulators such as HC10 and Doosan
  • Some manipulators are designed for heavy-duty functions, so they are relatively bulky
  • some The design of the robotic arm eg, UR
  • UR fully considers the flexibility and precision of the operation, but compared with the robotic arm that focuses on lightweight design, it is relatively heavy
  • the design of some robotic arms eg, Han's
  • Existing mechanical arms are very different in configuration, structural design, driver design, etc., resulting in the above-mentioned differences in performance. If you want to redesign a robotic arm based on certain performance requirements, how to choose the design direction and achieve the optimization of the design goal is still a challenging problem.
  • the present application proposes a method, device, computer equipment and readable storage medium for designing a manipulator.
  • the present application proposes a method for designing a mechanical arm, the method comprising:
  • Multiple sets of design parameters of the manipulator are determined according to the target degree of freedom of the manipulator, and each set of design parameters of the manipulator is used to design a manipulator;
  • a set of design parameters of the manipulator satisfying the constraint conditions of the manipulator and closest to the optimization target of the manipulator is selected from the optimized sets of manipulator design parameters.
  • each set of design parameters of the manipulator includes the direction of the joint rotation axis of each joint driver of the manipulator, 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 mass of the rod.
  • the design method of the manipulator described in this application determines the direction of the joint rotation axis of each joint driver of the manipulator in each set of design parameters of the manipulator according to the target degree of freedom of the manipulator, including:
  • the length of the first binary code is equal to the target degree of freedom
  • the jth bit of the first binary code is The code represents the direction of the joint rotation axis of the jth joint driver of the robotic arm, 1 ⁇ j ⁇ J, and J represents the total number of joint drivers of the robotic arm.
  • the design method of the manipulator described in this application determines the connection mode between each connecting rod of the manipulator and the corresponding joint driver in each set of design parameters of the manipulator according to the target degree of freedom of the manipulator, including:
  • All the second binary codes of the connection method are determined according to the target degree of freedom, the length of the second binary code is equal to the target degree of freedom, and the first bit code of the second binary code represents the first
  • the connection mode between the connecting rod and the console of the manipulator and the first joint driver the j-th code represents the connection mode between the j-th connecting rod and the j-1-th joint driver and the j-th joint driver, 2 ⁇ j ⁇ J, J represents the total number of joint drivers of the robotic arm.
  • the The corresponding manipulator performance evaluation index includes each set of manipulator design parameters corresponding to the total mass of the manipulator, the total stiffness of the manipulator and the operating space of the manipulator.
  • the determination of the manipulator performance evaluation index corresponding to each set of manipulator design parameters includes :
  • each joint driver of the manipulator According to the direction of the joint rotation axis of each joint driver of the manipulator corresponding to the i-th group of manipulator design parameters, the center position of each joint driver, the connection mode of each connecting rod and the corresponding joint driver, and the quality-related attribute parameters of each connecting rod to determine the i-th A configuration of the manipulator, 1 ⁇ i ⁇ I, I means that there is a set of I design parameters of the manipulator;
  • the total stiffness of the mechanical arm corresponding to the i-th set of mechanical arm design parameters is determined according to the outer diameter of each connecting rod corresponding to the i-th set of mechanical arm design parameters and the quality-related attribute parameters of each connecting rod.
  • the minimum-mass joint driver corresponding to the i-th set of mechanical arm design parameters is determined, including:
  • each joint driver of the mechanical arm is the k-th type of joint driver
  • the kth type of joint driver is a joint driver to be judged, 2 ⁇ k ⁇ K, K means that there are K types of joint drivers;
  • the k-1th joint driver is used as the joint driver to be judged, and the preset method is used to determine the first The maximum torque and average torque corresponding to k-1 types of joint drivers, until the joint driver whose maximum torque is greater than the first torque threshold and average torque is greater than the second torque threshold and has the smallest mass is determined, the k-1th type The quality of the joint driver is less than the quality of the kth joint driver;
  • the preset methods include:
  • the i-th is determined according to the mass of the joint driver to be judged, the moment of inertia of the joint driver to be judged, the maximum load bearing at the end of the mechanical arm, the mass of the corresponding connecting rod, and the moment of inertia of the corresponding connecting rod.
  • each connecting rod is a hollow cylinder, and the outer diameter of each connecting rod corresponding to the i-th group of mechanical arm design parameters and the quality-related attribute parameters of each connecting rod are determined.
  • the total stiffness of the manipulator corresponding to the i-th group of manipulator design parameters including:
  • each connecting rod determines the tensile and compressive deformation and axial force generated by the axial component force at the end of each connecting rod. Torsional deformation due to torque, bending deformation due to normal component force, and bending deformation due to normal torque;
  • the operating space of the manipulator is determined according to the i-th manipulator configuration, including:
  • the corresponding operating space of the manipulator is represented by multiple spatial positions that the end of the manipulator corresponding to the i-th set of manipulator design parameters can reach.
  • the present application also proposes a mechanical arm design device, the device comprising:
  • the parameterization module is used to determine multiple sets of design parameters of the manipulator according to the target degree of freedom of the manipulator, and each set of design parameters of the manipulator is used to design a manipulator;
  • a determining module configured to determine the performance evaluation index of the manipulator corresponding to each group of manipulator design parameters according to the preset manipulator optimization target and the preset manipulator restriction conditions;
  • An optimization module configured to optimize multiple sets of manipulator design parameters according to the manipulator optimization target, the manipulator constraint and the corresponding manipulator performance evaluation index;
  • the selection module is configured to select a set of design parameters of the manipulator that satisfy the constraints of the manipulator and are closest to the optimization target of the manipulator from among the optimized sets of design parameters of the manipulator.
  • the present application also proposes a computer device, including a memory and a processor, the memory stores a computer program, and when the computer program runs on the processor, the method for designing a mechanical arm described in the present application is executed.
  • the present application also proposes a readable storage medium, which stores a computer program, and the computer program executes the mechanical arm design method described in the present application when running on a processor.
  • This application designs multiple sets of manipulator design parameters according to the target degree of freedom of the manipulator, and determines the performance evaluation index of the manipulator corresponding to each set of manipulator design parameters according to the preset manipulator optimization goals and preset manipulator constraints;
  • the manipulator optimization target, the manipulator constraints and the corresponding manipulator performance evaluation index optimize multiple sets of manipulator design parameters, and select from the optimized sets of manipulator design parameters that meet the manipulator constraint conditions and
  • a set of design parameters of the manipulator closest to the optimization target of the manipulator the manipulator is designed according to a set of design parameters of the manipulator that meet the constraints of the manipulator and are closest to the optimization target of the manipulator.
  • This application does not rely on the existing mechanical arm, overcomes the limitations of the structure of the existing mechanical arm, the type of driver, etc., and provides a design scheme of the mechanical arm from scratch, which can be based on the constraints and conditions of the mechanical arm preset by the designer.
  • the goal of manipulator optimization is to determine the optimal manipulator and improve the flexibility of manipulator design.
  • FIG. 1 shows a schematic flow diagram of a method for designing a mechanical arm proposed in an embodiment of the present application
  • Fig. 2 shows a schematic cross-sectional view of a mechanical arm link proposed by an embodiment of the present application
  • Fig. 3 shows a schematic diagram of the first binary encoding of the direction of the joint rotation axis of each joint driver of a mechanical arm proposed by the embodiment of the present application;
  • Fig. 4 shows a schematic diagram of a connection mode between each connecting rod of a mechanical arm and the corresponding joint driver proposed by the embodiment of the present application;
  • Fig. 5 shows a schematic diagram of another connection mode between each connecting rod of a mechanical arm and the corresponding joint driver proposed by the embodiment of the present application;
  • Fig. 6 shows a schematic diagram of an optimization solution proposed by the embodiment of the present application.
  • Fig. 7 shows a schematic diagram of the force of a hollow cylinder proposed in the embodiment of the present application.
  • Fig. 8 shows a schematic diagram of the effect of a hollow cylinder on the deformation of the end of the mechanical arm proposed by the embodiment of the present application
  • Fig. 9 shows a schematic structural diagram of a mechanical arm design device proposed in the embodiment of the present application.
  • FIG. 10 shows a schematic structural diagram of a computer device proposed by an embodiment of the present application.
  • 10-manipulator design device 11-parameterization module; 12-determination module; 13-optimization module; 14-selection module; 100-computer equipment; 110-memory; 120-processor.
  • Existing methods for optimal design of manipulators are generally based on a preliminary design scheme, and provide quantitatively better designs based on existing design schemes, for example, based on existing manipulators, such as UR5 or some simpler machines Arm design scheme, by optimizing the structural size of key components, driver selection, joint rod length, control parameters, etc., to achieve the predetermined optimization goal (for example, the predetermined optimization goal can include the largest operating space, the total mass of the manipulator, etc. The lightest, the most energy-saving, the safest, the structural rigidity meets the predetermined conditions, etc.).
  • existing manipulators may be limited by structural design, driver selection, etc., resulting in that the predetermined optimization goals may not be achieved based on the existing manipulators.
  • This application proposes a design method for a manipulator, which is used for training a series manipulator, and can realize the design of a series manipulator from scratch.
  • the method includes designing multiple sets of manipulator design parameters according to the target degree of freedom of the manipulator, and Determine the manipulator performance evaluation index corresponding to each set of manipulator design parameters according to the set manipulator optimization target and preset manipulator constraint conditions;
  • the arm performance evaluation index optimizes multiple sets of manipulator design parameters, and selects a set of manipulator design parameters that meet the constraints of the manipulator and are closest to the optimization target of the manipulator from among the optimized sets of manipulator design parameters.
  • the manipulator is designed with a set of manipulator design parameters closest to the manipulator constraint condition and the manipulator optimization goal.
  • This application proposes a design method for a manipulator that does not rely on the existing manipulator, overcomes the limitations of the existing manipulator structure, driver type, etc., and provides a design scheme for the manipulator from scratch, which can be based on the designer
  • the set constraints of the manipulator and the optimization goal of the manipulator determine the optimal manipulator and improve the flexibility of manipulator design.
  • One embodiment of the present application proposes a mechanical arm design method including the following steps:
  • S100 Determine multiple sets of design parameters of the manipulator according to the target degree of freedom of the manipulator, and each set of design parameters of the manipulator is used to design a kind of manipulator.
  • the target degrees of freedom of the manipulator can be input by the designer into the computer equipment, so that the computer equipment can obtain the target degrees of freedom of the manipulator, and determine multiple sets of design parameters of the manipulator according to the target degrees of freedom of the manipulator. It can be understood that in each of the manipulators A joint has only one joint driver, that is, when each joint has only one joint rotation axis, each joint represents a degree of freedom. Therefore, the number of joints and the number of links of the manipulator can be determined according to the target degree of freedom of the manipulator.
  • the manipulator includes 6 joints and 6 links, that is, the link between the console of the manipulator and the driver of the first joint is recorded as the first link , the link between the j-th joint driver and the j+1-th joint driver is recorded as the j+1-th link, 1 ⁇ j ⁇ J-1, and J represents the total number of joints of the manipulator, that is, the total number of joint drivers.
  • each group of design parameters of the manipulator includes the direction of the joint rotation axis of each joint driver of the manipulator, the center position of each joint driver, the connection mode of each link and the corresponding joint driver, and the quality-related attribute parameters of each link.
  • the quality-related attribute parameters of each connecting rod include attributes such as the length of each connecting rod, the thickness of each connecting rod, and the material of the connecting rod.
  • FIG. 2 a cross-sectional view of a cylindrical manipulator link is shown.
  • the outer diameter of the link is denoted as D
  • the inner diameter of the link is denoted as d
  • the thickness of the link is denoted as k2.
  • the outer diameter and inner diameter of the connecting rod are determined by the type of joint driver.
  • the direction of the joint rotation axis of each joint driver of the manipulator in each set of design parameters of the manipulator can be determined according to the target degree of freedom of the manipulator.
  • the joint rotation axes of each joint driver of the manipulator are on the same plane: according to the The target degree of freedom determines all the first binary codes in the direction of the joint rotation axis, the length of the first binary code is equal to the target degree of freedom, and the jth code of the first binary code represents The direction of the joint rotation axis of the jth joint driver of the robotic arm, 1 ⁇ j ⁇ J, where J represents the total number of joint drivers of the robotic arm.
  • the joint rotation axis in the horizontal direction can be defined as 0 in advance; the joint rotation axis in the vertical direction can be defined as 1; according to the connection sequence of each joint, the predefined codes corresponding to the joint rotation axes of each joint driver can be arranged in order to determine the first Binary encoding.
  • the first binary code corresponding to the direction of the joint rotation axis of each joint driver of the robotic arm UR5 is 011101
  • the first binary code corresponding to the direction of the joint rotation axis of each joint driver of the robotic arm HC10 The code is 011010.
  • first binary codes for a mechanical arm with a target degree of freedom of n, there are 2 possible situations for the direction of the joint rotation axis of each joint driver, therefore, there are 2n first binary codes for a mechanical arm with a target degree of freedom of n, Each first binary code corresponds to the direction of the joint rotation axis of each joint driver of a mechanical arm.
  • the joint rotation axis in the horizontal direction can also pre-define the joint rotation axis in the vertical direction as 0, as long as you ensure that the joint rotation axis in the horizontal direction and the joint rotation axis in the vertical direction are defined as different values.
  • the two-dimensional parametric coding can improve the calculation efficiency of the computer equipment, so that the computer equipment can quickly and accurately determine the basic configuration of the manipulator.
  • the connection mode of each connecting rod of the manipulator in each set of design parameters of the manipulator and the corresponding joint driver can be determined, including: determining all the first joints of the connection mode according to the target degree of freedom Two binary codes, the length of the second binary code is equal to the target degree of freedom, the first code of the second binary code represents the first connecting rod and the console of the mechanical arm and the first joint driver
  • the connection mode between, the j-th code represents the connection mode between the j-th connecting rod and the j-1th joint driver and the j-th joint driver, 2 ⁇ j ⁇ J, J represents the joint of the mechanical arm total.
  • the link between the console of the manipulator and the first joint driver can be recorded as the first link; the link between the jth joint driver and the j+1th joint driver can be It is recorded as the j+1th connecting rod.
  • connection mode between the first connecting rod and the console of the mechanical arm and the first joint driver is defined as 1; if If the first joint driver moves with the second link, the connection mode between the first link and the console and the first joint driver is defined as 0.
  • connection mode between the j-th connecting rod and the j-th joint driver and the j+1-th joint driver is 0; if the jth joint driver moves with the j+1th connecting rod, then the connection mode between the jth connecting rod and the jth joint driver and the j+1th joint driver is defined as 1.
  • connection mode 0
  • connection mode corresponding to the j+1th link and the jth joint driver and the j+1th joint driver is shown in Figure 4, and the j+1th link can only It is connected from the end of the jth joint driver; if the connection mode is 1, the connection mode of the j+1th link and the jth joint driver and the j+1th joint driver may be shown in Figure 4. It may also be shown in FIG. 5 that the j+1th connecting rod is vertically connected from the middle of the jth joint driver.
  • the second binary code corresponding to the robotic arm UR5 is 110000
  • the second binary code corresponding to the Hanzu robotic arm is 101010.
  • each connecting rod is connected to the corresponding joint driver.
  • each second binary code corresponds to a connection mode between each connecting rod of the mechanical arm and the corresponding joint driver.
  • the connection mode of a joint driver is defined as 0; if the first joint driver moves with the second link, define the connection mode of the first link with the console and the first joint driver is 1; when j>1, if the jth joint driver moves with the jth connecting rod, then the jth connecting rod and the jth joint driver and the j+1th joint driver
  • the connection mode is defined as 1; if the jth joint driver moves with the j+1th link, then connect the jth link with the jth joint driver and the j+1th joint driver Mode is defined as 0.
  • different connection methods are defined as different values, the computer equipment can quickly and accurately determine the basic configuration of the manipulator through two-dimensional parameterized coding.
  • S200 Determine the performance evaluation index of the manipulator corresponding to each set of manipulator design parameters according to the preset manipulator optimization target and the preset manipulator restriction condition.
  • optimization objectives of the manipulator for example, the most flexible manipulator, the minimum total mass of the manipulator, the largest operating space of the manipulator, and the least total stiffness of the manipulator, etc.
  • optimization objectives of the manipulator for example, the total mass of the manipulator is minimized and the operating space of the manipulator is maximized.
  • constraints on the manipulator for example, the total stiffness of the manipulator meets the predetermined range, the total mass of the manipulator meets the predetermined range, and the operating space of the manipulator meets the predetermined range.
  • the setting of the optimization goal of the manipulator and the constraints of the manipulator needs to consider the realizability of the configuration of the manipulator in the actual design, and design the scheme and Compared with other methods that only analyze the configuration, it avoids the problem that the configuration is too idealized, which is difficult to realize in practice.
  • the optimization goal of the manipulator may be the minimum total mass of the manipulator and the maximum operating space of the manipulator
  • the constraint condition of the manipulator may be that the total stiffness of the manipulator meets a predetermined range
  • the corresponding manipulator performance evaluation index includes each group of manipulators
  • the arm design parameters correspond to the total mass of the manipulator, the total stiffness of the manipulator and the operating space of the manipulator.
  • the corresponding manipulator performance evaluation index Including each set of mechanical arm design parameters corresponding to the total mass of the mechanical arm, the total stiffness of the mechanical arm, and the operating space of the mechanical arm, the determination of the performance evaluation index of the mechanical arm corresponding to each set of mechanical arm design parameters includes:
  • the i-th group of manipulator design parameters corresponding to the joint rotation axis direction of each joint driver of the manipulator, the center position of each joint driver, the connection mode of each link and the corresponding joint driver, and the quality-related attribute parameters of each link to determine the first i type of mechanical arm configuration, 1 ⁇ i ⁇ I, I means that there is an I group of mechanical arm design parameters; according to the i type of mechanical arm configuration, determine the joint driver of the minimum mass corresponding to the i-th group of mechanical arm design parameters and the operating space of the manipulator; determine the outer diameter of each connecting rod according to the minimum mass joint driver corresponding to the i-th group of manipulator design parameters; The outer diameter of each connecting rod and the quality-related attribute parameters of each connecting rod determine the total mass of the mechanical arm corresponding to the i-th group of mechanical arm design parameters; The outer diameter and mass-related attribute parameters of each connecting rod determine the total stiffness of the mechanical arm corresponding to the i-th set of mechanical arm design parameters.
  • the total mass of the manipulator determined according to the minimum mass joint driver corresponding to the i-th group of manipulator design parameters, the outer diameter of each connecting rod, and the mass-related attribute parameters of each connecting rod may be different from the actual mechanical There are differences in the total mass of the arm, but as a horizontal comparison index, the influence of each set of manipulator design parameters on the total mass of the manipulator can be measured.
  • genetic algorithm or particle swarm optimization or weighted objective function or other optimization algorithms can be used to optimize the manipulator according to the preset goal, preset
  • the constraints of the manipulator and the performance evaluation index of the manipulator corresponding to each set of manipulator design parameters optimize multiple sets of manipulator design parameters.
  • an intelligent optimization algorithm (genetic algorithm or particle swarm optimization algorithm or weighted objective function or other optimization algorithms)
  • the design parameters can avoid being affected by the subjectivity and experience of different designers.
  • S400 Select a set of mechanical arm design parameters that satisfy the constraint condition of the mechanical arm and are closest to the optimization target of the mechanical arm from the optimized sets of mechanical arm design parameters.
  • the Pareto Optimality solution corresponding to the optimized sets of design parameters of the manipulator is shown in Figure 6, the ordinate is the operation space index (the operation space index determined after reciprocating and normalizing the number of reachable points), therefore, the smaller the operation space index is, the larger the operation space is.
  • the abscissa represents the total mass of the manipulator.
  • the operating space corresponding to each point on the right side of point A is approximately the same as that corresponding to point A, but the total mass of the manipulator corresponding to each point on the right side of point A increases significantly. If the total mass of the manipulator is the smallest And the maximum operating space is taken as the optimization target of the manipulator, then the optimized set of design parameters of the manipulator corresponding to point A can be used to design the manipulator.
  • multiple sets of manipulator design parameters are designed according to the target degree of freedom of the manipulator, and according to the preset manipulator optimization target, the preset manipulator constraint conditions, the joint driver corresponding to each set of manipulator design parameters, and the total mass of the manipulator , the total stiffness of the manipulator and the operating space of the manipulator to optimize multiple sets of manipulator design parameters, and select a set of machines that meet the constraints of the manipulator and are closest to the optimization target of the manipulator from the optimized sets of manipulator design parameters arm design parameters, designing the manipulator according to a set of manipulator design parameters that satisfy the constraint conditions of the manipulator and are closest to the optimization target of the manipulator.
  • the technical solution of this embodiment does not rely on the existing mechanical arm, overcomes the limitations of the existing mechanical arm structure, driver type, etc., and provides a mechanical arm design scheme from scratch, which can be based on the mechanical arm preset by the designer.
  • the optimal manipulator is determined by the arm constraints and the manipulator optimization objective, which improves the flexibility of the manipulator design.
  • An embodiment of the present application proposes a method for determining a minimum mass joint driver, the method comprising:
  • each joint driver of the manipulator is the k-th joint driver
  • use a preset method to determine the joint driver to be judged at this time k-th joint driver
  • Corresponding maximum torque and average torque, 2 ⁇ k ⁇ K, K means there are K types of joint drivers.
  • the k-1th joint driver is used as the joint driver to be judged, and the preset method is used to determine the joint driver to be judged at this time. Judging the maximum torque and average torque corresponding to the joint driver (the k-1th joint driver) until the joint driver whose maximum torque is greater than the first torque threshold and the average torque is greater than the second torque threshold and has the smallest mass is determined. The mass of the 1st joint driver is less than that of the kth joint driver.
  • the maximum torque corresponding to the k-th joint driver is less than or equal to the first torque threshold or the average torque is less than or equal to the second torque threshold, then use the k+1 joint driver as the joint driver to be judged, and continue to use the preset method to determine this It is time to judge the maximum torque and average torque corresponding to the joint driver (the k+1 joint driver), until the joint driver whose maximum torque is greater than the first torque threshold and the average torque is greater than the second torque threshold and has the smallest mass is determined.
  • the mass of the k+1 type of joint driver is greater than the mass of the kth type of joint driver.
  • the preset method includes: acquiring the predetermined motion trajectory of the robotic arm, the quality of the joint driver to be judged, the moment of inertia of the joint driver to be judged, and the maximum load-bearing capacity of the end of the robotic arm; determining the corresponding connection according to the joint driver to be judged.
  • the weight of the rod and the moment of inertia of the corresponding connecting rod determine the maximum moment and the average moment when the robot arm corresponding to the i-th robot arm configuration completes the predetermined motion trajectory.
  • each connecting rod is a hollow cylinder
  • the i-th group of mechanical The total stiffness of the manipulator corresponding to the arm design parameters, including:
  • each connecting rod Using the theory of material mechanics, according to the outer diameter of each connecting rod corresponding to the i-th group of manipulator design parameters and the quality-related attribute parameters of each connecting rod, determine the tensile and compressive deformation and axial force generated by the axial component force at the end of each connecting rod.
  • each connecting rod of the mechanical arm is simplified into a hollow cylinder
  • each connecting rod may include a section of hollow cylinder, or may include multiple sections of hollow cylinder, and its stiffness can be estimated using the theory of material mechanics.
  • the deformation of each hollow cylinder at the end is superimposed, which is the total deformation of the mechanical arm at the end, which is used as a measure of the total stiffness of the mechanical arm.
  • the load on each hollow cylinder includes the weight of its sub-joint drivers and connecting rods and the weight of the end load, and various situations under different attitudes can be considered.
  • FIG 7 for a section of hollow cylinder, when it is subjected to the force f at the point of action at Pf, its deformation (displacement) at the end position Pe of the mechanical arm can be obtained by the following method:
  • the axial unit vector of the hollow cylinder as r a , and the direction is from the fixed end (near the base of the manipulator) to the loaded end (near the end of the manipulator).
  • the calculation formula of tension and compression deformation is: 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 formula for calculating the torsion angle generated by torsion is where G is the shear modulus of the material and Ip is the polar moment of inertia of the cross section about its center.
  • R represents the rotation matrix generated by rotating a given angle ⁇ tor around a given axis r a .
  • the bending deflection produced by the normal force moment is The bending deflection produced by the normal moment is where I is the moment of inertia of the cross section about the neutral axis.
  • the bending angle produced by the normal force is The bending angles generated by the normal moment are
  • the sum of the deformation of the jth link at the end of the arm is P indicates that the jth connecting rod includes a total of P segments of hollow cylinders.
  • the superposition of the deformation of each segment of the hollow cylinder at the end of the mechanical arm of each connecting rod can be determined by the above method.
  • the total deformation of all connecting rods at the end of the manipulator can be obtained, and then the total stiffness of the manipulator can be determined.
  • This method is used to estimate the total stiffness of the manipulator given the design parameters of the manipulator, which may be different from the total stiffness of the actually designed manipulator, but as a horizontal comparison index, it can measure the impact of the design parameters of the manipulator on the total manipulator. The effect of stiffness.
  • Inverse kinematics is a method of calculating joint angles with the 6-DOF pose of the end known.
  • the operation space can be analyzed by judging whether the spatial position can be reached by whether there is an inverse kinematics solution.
  • the pose of the end of the manipulator relative to the world coordinate system can be obtained by the chain rule in, Indicates the homogeneous transformation matrix from the jth joint to the j-1th joint, including translation and rotation.
  • the rotation includes the relative position of the joint in the original configuration and the rotation of the joint itself. It includes the rotation angles of the first five joints, but does not take the sixth joint into account. So there are 5 unknowns in the equation.
  • the translation components on both sides of the equation are equal, and three equations can be obtained. where the rotation component determines the orientation of the tip, i.e. The right side of the equation is the unit vector in the direction of the end. The components are equal, and three equations can be obtained, but only two independent equations can be obtained. Therefore, a total of 5 equations can be obtained to solve 5 unknowns.
  • the solution of the nonlinear system of equations can be solved by Newton's iterative method. Since only one set of solutions can be obtained for a given initial value, there are actually multiple sets of feasible solutions. Therefore, multiple solutions are performed, and the range between the initial value and the solution is recorded for each solution, and the initial value is given outside the range in the next solution. There is at least one set of feasible solutions that meet the requirements, which means that the spatial position can be reached.
  • the calculation method of the operation space evenly sample in the space of interest, and determine the reachability. The more locations that can be reached, the larger the operation space.
  • Exemplary uniformly collect multiple spatial positions in a predetermined spatial area; determine the accessibility between the end of the manipulator corresponding to the i-th set of manipulator design parameters and each space position; use the i-th set of manipulator design parameters
  • the multiple spatial positions that the end of the robotic arm corresponding to the parameter can reach represent the corresponding operating space of the robotic arm.
  • An embodiment of the present application proposes a robotic arm design device 10 including: a parameterization module 11 , a determination module 12 , an optimization module 13 and a selection module 14 .
  • the parameterization module 11 is used to determine multiple sets of mechanical arm design parameters according to the target degree of freedom of the mechanical arm, and each set of mechanical arm design parameters is used to design a kind of mechanical arm; the determination module 12 is used to optimize the target according to the preset mechanical arm Determine the performance evaluation index of the mechanical arm corresponding to each set of mechanical arm design parameters with the preset mechanical arm constraint conditions; the optimization module 13 is used to optimize the target of the mechanical arm according to the mechanical arm constraint conditions and the corresponding mechanical arm The arm performance evaluation index optimizes multiple sets of mechanical arm design parameters; the selection module 14 is used to select a group of mechanical arms that meet the constraints of the mechanical arm and are closest to the optimization target of the mechanical arm from the optimized multiple sets of mechanical arm design parameters. arm design parameters.
  • each group of mechanical arm design parameters includes 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 quality-related attribute parameters of each connecting rod .
  • the direction of the joint rotation axis of each joint driver of the robot arm in each set of design parameters of the robot arm is determined according to the target degree of freedom of the robot arm, including: when the joint rotation axes of each joint driver of the robot arm are on the same plane: according to the The target degree of freedom determines all the first binary codes in the direction of the joint rotation axis, the length of the first binary code is equal to the target degree of freedom, and the jth code of the first binary code represents mechanical The direction of the joint rotation axis of the jth joint driver of the arm, 1 ⁇ j ⁇ J, where J represents the total number of joints of the robotic arm.
  • determining the connection mode between each connecting rod of the manipulator and the corresponding joint driver in each set of design parameters of the manipulator includes: determining all the second parts of the connection mode according to the target degree of freedom Binary code, the length of the second binary code is equal to the target degree of freedom, the first code of the second binary code represents the connection between the first connecting rod and the console of the mechanical arm and the first joint driver
  • the j-th code represents the connection mode between the j-th connecting rod and the j-1-th joint driver and the j-th joint driver, 2 ⁇ j ⁇ J, and J indicates the total number of joints of the robotic arm .
  • the corresponding manipulator performance evaluation index Including each set of mechanical arm design parameters corresponding to the total mass of the mechanical arm, the total stiffness of the mechanical arm, and the operating space of the mechanical arm, the determination of the performance evaluation index of the mechanical arm corresponding to each set of mechanical arm design parameters includes: according to the i-th group of mechanical arm The direction of the joint rotation axis of each joint driver of the manipulator corresponding to the design parameters, the center position of each joint driver, the connection mode of each connecting rod and the corresponding joint driver, and the quality-related attribute parameters of each connecting rod determine the i-th manipulator configuration.
  • I means that there is an I group of mechanical arm design parameters; according to the configuration of the i-th mechanical arm, determine the joint driver and the operating space of the minimum mass of the i-th mechanical arm design parameters corresponding to the i-th group of mechanical arm; according to The minimum mass joint driver corresponding to the i-th group of mechanical arm design parameters determines the outer diameter of each connecting rod; according to the minimum mass joint driver corresponding to the i-th group of mechanical arm design parameters, the outer diameter of each connecting rod Determine the total mass of the mechanical arm corresponding to the i-th group of mechanical arm design parameters with the quality-related attribute parameters of each connecting rod; determine the corresponding mechanical total arm stiffness.
  • determining the joint driver with the minimum mass corresponding to the i-th group of mechanical arm design parameters according to the i-th mechanical arm configuration includes: when the mechanical arm is the i-th mechanical arm configuration and the When each joint driver of the mechanical arm is the kth joint driver, use a preset method to determine the maximum torque and average torque corresponding to the kth joint driver, and the kth joint driver is the joint driver to be judged, 2 ⁇ k ⁇ K, K indicates that there are K types of joint drivers; if the maximum torque corresponding to the kth joint driver is greater than the first torque threshold and the average torque is greater than the second torque threshold, then the k-1th joint driver is used as the joint driver to be judged , continue to use the preset method to determine the maximum torque and average torque corresponding to the k-1th joint driver until the joint driver whose maximum torque is greater than the first torque threshold and the average torque is greater than the second torque threshold and has the smallest mass is determined.
  • the mass of the k-1 type of joint driver is smaller than the mass
  • the preset method includes: acquiring the predetermined motion trajectory of the robotic arm, the quality of the joint driver to be judged, the moment of inertia of the joint driver to be judged, and the maximum load-bearing capacity of the end of the robotic arm; determining the corresponding connection according to the joint driver to be judged.
  • the weight of the rod and the moment of inertia of the corresponding connecting rod determines the maximum moment and the average moment when the robot arm corresponding to the i-th robot arm configuration completes the predetermined motion trajectory.
  • each connecting rod is a hollow cylinder
  • the i-th group of mechanical arm design parameters are determined according to the outer diameter of each connecting rod corresponding to the i-th group of mechanical arm design parameters and the quality-related attribute parameters of each connecting rod
  • the corresponding total stiffness of the mechanical arm includes: using the theory of material mechanics to determine the axial direction of each connecting rod end according to the outer diameter of each connecting rod corresponding to the i-th set of mechanical arm design parameters and the quality-related attribute parameters of each connecting rod
  • the total stiffness of the mechanical arm corresponding to the i-th group of mechanical arm design parameters is calculated for the tensile and compressive deformation generated by the component force, the torsional deformation generated by the axial moment, the bending deformation generated by the normal component
  • determining the operating space of the manipulator according to the i-th manipulator configuration includes: uniformly collecting multiple spatial positions in a predetermined space area; determining the end of the manipulator corresponding to the i-th set of manipulator design parameters and each Accessibility between a spatial position; multiple spatial positions that can be reached by the end of the manipulator corresponding to the i-th set of manipulator design parameters represent the corresponding manipulator operating space.
  • the manipulator design device 10 disclosed in this embodiment is used in conjunction with the parameterization module 11, the determination module 12, the optimization module 13, and the selection module 14 to implement the manipulator design method described in the above-mentioned embodiment.
  • the above-mentioned embodiment involves The implementation schemes and beneficial effects are also applicable in this embodiment, and will not be repeated here.
  • the present application also proposes a computer device 100, including a memory 110 and a processor 120, the memory 110 stores a computer program, and when the computer program runs on the processor 120, it executes the computer program described in the present application.
  • a computer device 100 including a memory 110 and a processor 120, the memory 110 stores a computer program, and when the computer program runs on the processor 120, it executes the computer program described in the present application.
  • the present application also relates to a readable storage medium, which stores a computer program, and the computer program executes the mechanical arm design method described in the present application when running on a processor.
  • each block in a flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flow diagrams, and combinations of blocks in the block diagrams and/or flow diagrams can be implemented by a dedicated hardware-based system that performs the specified function or action may be implemented, or may be implemented by a combination of special purpose hardware and computer instructions.
  • each functional module or unit in each embodiment of the present application may be integrated to form an independent part, each module may exist independently, or two or more modules may be integrated to form an independent part.
  • the functions are realized in the form of software function modules and sold or used as independent products, they can be stored in a readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned readable storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. medium.

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Abstract

一种机械臂设计方法、装置、计算机设备和可读存储介质，该方法包括根据机械臂目标自由度设计多组机械臂设计参数，每一组机械臂设计参数用于设计一种机械臂（S100）；根据预设的机械臂优化目标和预设的机械臂限制条件确定每一组机械臂设计参数对应的机械臂性能评估指标（S200）；根据机械臂优化目标、机械臂限制条件和机械臂性能评估指标优化多组机械臂设计参数（S300）；从优化后的多组机械臂设计参数中选择满足所述机械臂限制条件并且最接近所述机械臂优化目标的一组机械臂设计参数（S400）。本方法不依赖已有的机械臂，克服已有机械臂的结构、驱动器类型等方面的限制，提供一种从无到有的机械臂设计方案，提高机械臂设计的灵活性。

Description

机械臂设计方法、装置、计算机设备和可读存储介质
相关申请的交叉引用
本申请要求于2021年07月28日提交中国专利局的申请号为2021108571398、名称为“机械臂设计方法、装置、计算机设备和可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及机械臂领域，尤其涉及一种机械臂设计方法、装置、计算机设备和可读存储介质。
背景技术
目前，一些机械臂(例如，kinova)的设计十分轻便，但刚度、重复定位精度和操作空间等相对较差；一些机械臂(例如，HC10和Doosan)为重载功能设计，因此比较笨重；一些机械臂(例如，UR)的设计充分考虑了操作的灵活性和精度，但与注重轻量化设计的机械臂相比，相对较重；一些机械臂(例如，大族)的设计追求模块化、低成本、便于组装等，但其操作灵活性较低。现有的机械臂在构型、结构设计、驱动器设计等方面均有很大的不同，导致在性能方面存在上述差异。如果希望基于某些性能需求，重新设计一款机械臂，如何选择设计方向，实现设计目标的最优化，仍然是具有挑战性的问题。
申请内容
鉴于上述问题，本申请提出一种机械臂设计方法、装置、计算机设备和可读存储介质。
本申请提出一种机械臂设计方法，所述方法包括：
根据机械臂目标自由度确定多组机械臂设计参数，每一组机械臂设计参数用于设计一种机械臂；
根据预设的机械臂优化目标和预设的机械臂限制条件确定每一组机械臂设计参数对应的机械臂性能评估指标；
根据所述机械臂优化目标、所述机械臂限制条件和所述对应的机械臂性能评估指标优化多组机械臂设计参数；
从优化后的多组机械臂设计参数中选择满足所述机械臂限制条件并且最接近所述机械臂优化目标的一组机械臂设计参数。
本申请所述的机械臂设计方法，所述每一组机械臂设计参数包括机械臂各个关节驱动器的关节转轴方向、各个关节驱动器的中心位置、各个连杆与相应关节驱动器的连接方式、各个连杆与质量相关的属性参数。
本申请所述的机械臂设计方法，根据机械臂目标自由度确定每一组机械臂设计参数中的机械臂各个关节驱动器的关节转轴方向，包括：
在机械臂各个关节驱动器的关节转轴位于同一平面的情况下：
根据所述目标自由度确定所述关节转轴方向的全部第一二值化编码，所述第一二值 化编码的长度等于所述目标自由度，所述第一二值化编码的第j位编码代表机械臂第j个关节驱动器的关节转轴方向，1≤j≤J，J表示所述机械臂的关节驱动器总数。
本申请所述的机械臂设计方法，根据机械臂目标自由度确定每一组机械臂设计参数中的机械臂各个连杆与相应的关节驱动器的连接方式，包括：
根据所述目标自由度确定所述连接方式的全部第二二值化编码，第二二值化编码的长度等于所述目标自由度，第二二值化编码的第一位编码代表第一个连杆与机械臂的操作台和第一个关节驱动器之间的连接方式，第j位编码代表第j个连杆与第j-1个关节驱动器和第j个关节驱动器之间的连接方式，2≤j≤J，J表示所述机械臂的关节驱动器总数。
本申请所述的机械臂设计方法，在所述机械臂优化目标为机械臂总质量最小且机械臂操作空间最大，所述机械臂限制条件为所述机械臂总刚度满足预定范围时，所述对应的机械臂性能评估指标包括每一组机械臂设计参数对应机械臂总质量、机械臂总刚度和机械臂操作空间，所述确定每一组机械臂设计参数对应的机械臂性能评估指标，包括：
根据第i组机械臂设计参数对应的机械臂各个关节驱动器的关节转轴方向、各个关节驱动器的中心位置、各个连杆与相应关节驱动器的连接方式和各个连杆与质量相关的属性参数确定第i种机械臂构型，1≤i≤I，I表示有I组机械臂设计参数；
根据所述第i种机械臂构型确定所述第i组机械臂设计参数对应的最小质量的关节驱动器和机械臂操作空间；
根据所述第i组机械臂设计参数对应的最小质量的关节驱动器确定各个连杆的外径；
根据所述第i组机械臂设计参数对应的最小质量的关节驱动器、所述各个连杆的外径和各个连杆与质量相关的属性参数确定所述第i组机械臂设计参数对应的机械臂总质量；
根据所述第i组机械臂设计参数对应的各个连杆的外径和各个连杆与质量相关的属性参数确定所述第i组机械臂设计参数对应的机械臂总刚度。
本申请所述的机械臂设计方法，根据所述第i种机械臂构型确定所述第i组机械臂设计参数对应的最小质量的关节驱动器，包括：
在所述机械臂为所述第i种机械臂构型且所述机械臂的各个关节驱动器为第k种关节驱动器时，利用预设方法确定第k种关节驱动器对应的最大力矩和平均力矩，所述第k种关节驱动器为待判断关节驱动器，2≤k≤K，K表示有K种关节驱动器；
若所述第k种关节驱动器对应的最大力矩大于第一力矩阈值和平均力矩大于第二力矩阈值，则将第k-1种关节驱动器作为待判断关节驱动器，继续利用所述预设方法确定第k-1种关节驱动器对应的最大力矩和平均力矩，直至确定最大力矩大于所述第一力矩阈值且平均力矩大于所述第二力矩阈值且质量最小的关节驱动器为止，所述第k-1种关节驱动器的质量小于第k种关节驱动器的质量；
所述预设方法包括：
获取机械臂的预定运动轨迹、待判断关节驱动器的质量、待判断关节驱动器的转动惯量和机械臂末端的最大承重；
根据所述待判断关节驱动器确定对应连杆的重量和对应连杆的转动惯量；
根据所述待判断关节驱动器的质量、所述待判断关节驱动器的转动惯量、所述机械臂末端的最大承重、所述对应连杆的质量和所述对应连杆的转动惯量确定所述第i种机械臂构型对应的机械臂完成所述预定运动轨迹过程中的最大力矩和平均力矩。
本申请所述的机械臂设计方法，各个连杆为空心圆柱，所述根据所述第i组机械臂设计参数对应的各个连杆的外径和各个连杆与质量相关的属性参数确定所述第i组机械臂设计参数对应的机械臂总刚度，包括：
利用材料力学理论根据第i组机械臂设计参数对应的每一个连杆的外径和每一个连杆与质量相关的属性参数确定每一个连杆末端的轴向分力产生的拉压变形、轴向力矩产生的扭转变形、法向分力产生的弯曲变形和法向力矩产生的弯曲变形；
根据第i组机械臂设计参数对应的所有连杆末端的轴向分力产生的拉压变形、轴向力矩产生的扭转变形、法向分力产生的弯曲变形和法向力矩产生的弯曲变形计算所述第i组机械臂设计参数对应的机械臂总刚度。
本申请所述的机械臂设计方法，根据所述第i种机械臂构型确定机械臂操作空间，包括：
在预定的空间区域内均匀采集多个空间位置；
确定第i组机械臂设计参数对应的机械臂的末端与每一个空间位置之间的可达性；
利用第i组机械臂设计参数对应的机械臂的末端能到达的多个空间位置表示对应的机械臂操作空间。
本申请还提出一种机械臂设计装置，所述装置包括：
参数化模块，用于根据机械臂目标自由度确定多组机械臂设计参数，每一组机械臂设计参数用于设计一种机械臂；
确定模块，用于根据预设的机械臂优化目标和预设的机械臂限制条件确定每一组机械臂设计参数对应的机械臂性能评估指标；
优化模块，用于根据所述机械臂优化目标、所述机械臂限制条件和所述对应的机械臂性能评估指标优化多组机械臂设计参数；
选择模块，用于从优化后的多组机械臂设计参数中选择满足所述机械臂限制条件并且最接近所述机械臂优化目标的一组机械臂设计参数。
本申请还提出一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，所述计算机程序在所述处理器上运行时执行本申请所述的机械臂设计方法。
本申请还提出一种可读存储介质，其存储有计算机程序，所述计算机程序在处理器上运行时执行本申请所述的机械臂设计方法。
本申请根据机械臂目标自由度设计多组机械臂设计参数，根据预设的机械臂优化目标和预设的机械臂限制条件确定每一组机械臂设计参数对应的机械臂性能评估指标；根据所述机械臂优化目标、所述机械臂限制条件和所述对应的机械臂性能评估指标优化多组机械臂设计参数，从优化后的多组机械臂设计参数中选择满足所述机械臂限制条件并且最接近所述机械臂优化目标的一组机械臂设计参数，根据满足所述机械臂限制条件并且最接近所述机械臂优化目标的一组机械臂设计参数设计机械臂。本申请不依赖已有的机械臂，克服已有机械臂的结构、驱动器类型等方面的限制，提供一种从无到有的机械 臂设计方案，可以根据设计人员预先设置的机械臂限制条件和机械臂优化目标确定最优的机械臂，提高机械臂设计的灵活性。
附图说明
为了更清楚地说明本申请的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对本申请保护范围的限定。在各个附图中，类似的构成部分采用类似的编号。
图1示出了本申请实施例提出的一种机械臂设计方法的流程示意图；
图2示出了本申请实施例提出的一种机械臂连杆的横截面示意图；
图3示出了本申请实施例提出的一种机械臂各个关节驱动器的关节转轴方向的第一二值化编码示意图；
图4示出了本申请实施例提出的一种机械臂各个连杆与相应的关节驱动器的一种连接方式示意图；
图5示出了本申请实施例提出的一种机械臂各个连杆与相应的关节驱动器的另一种连接方式示意图；
图6示出了本申请实施例提出的一种优化求解的示意图；
图7示出了本申请实施例提出的一种空心圆柱的受力示意图；
图8示出了本申请实施例提出的一种空心圆柱对机械臂末端变形影响的示意图；
图9示出了本申请实施例提出的一种机械臂设计装置的结构示意图；
图10示出了本申请实施例提出的一种计算机设备的结构示意图。
主要元件符号说明：
10-机械臂设计装置；11-参数化模块；12-确定模块；13-优化模块；14-选择模块；100-计算机设备；110-存储器；120-处理器。
具体实施方式
下面将结合本申请实施例中附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。
通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。
在下文中，可在本申请的各种实施例中使用的术语“包括”、“具有”及其同源词仅意在表示特定特征、数字、步骤、操作、元件、组件或前述项的组合，并且不应被理解为首先排除一个或更多个其它特征、数字、步骤、操作、元件、组件或前述项的组合的存在或增加一个或更多个特征、数字、步骤、操作、元件、组件或前述项的组合的可能性。
此外，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
除非另有限定，否则在这里使用的所有术语(包括技术术语和科学术语)具有与本 申请的各种实施例所属领域普通技术人员通常理解的含义相同的含义。所述术语(诸如在一般使用的词典中限定的术语)将被解释为具有与在相关技术领域中的语境含义相同的含义并且将不被解释为具有理想化的含义或过于正式的含义，除非在本申请的各种实施例中被清楚地限定。
现有的机械臂优化设计的方法一般是基于一个初步的设计方案，在已有设计方案的基础上提供定量的更优设计，例如，基于已有的机械臂，如UR5或一些更简单的机械臂设计方案，通过对关键部件的结构尺寸、驱动器的选型、关节杆长、控制参数等进行优化选择，实现预定的优化目标(例如，预定的优化目标可以包括操作空间最大、机械臂总质量最轻、最节能、最安全、结构刚度满足预定条件等)。然而，已有的机械臂可能受到结构设计、驱动器选择等方面的限制，导致基于已有的机械臂可能无法实现预定的优化目标。
本申请提出一种机械臂设计方法，用于训练串联型机械臂，可以实现串联型机械臂从无到有的设计，该方法包括根据机械臂目标自由度设计多组机械臂设计参数，根据预设的机械臂优化目标和预设的机械臂限制条件确定每一组机械臂设计参数对应的机械臂性能评估指标；根据所述机械臂优化目标、所述机械臂限制条件和所述对应的机械臂性能评估指标优化多组机械臂设计参数，从优化后的多组机械臂设计参数中选择满足所述机械臂限制条件并且最接近所述机械臂优化目标的一组机械臂设计参数，根据满足所述机械臂限制条件并且最接近所述机械臂优化目标的一组机械臂设计参数设计机械臂。本申请提出一种机械臂设计方法不依赖已有的机械臂，克服已有机械臂的结构、驱动器类型等方面的限制，提供一种从无到有的机械臂设计方案，可以根据设计人员预先设置的机械臂限制条件和机械臂优化目标确定最优的机械臂，提高机械臂设计的灵活性。
实施例1
本申请的一个实施例，如图1所示，提出一种机械臂设计方包括以下步骤：
S100：根据机械臂目标自由度确定多组机械臂设计参数，每一组机械臂设计参数用于设计一种机械臂。
机械臂目标自由度可以由设计人员输入至计算机设备，以使计算机设备获取机械臂目标自由度，并根据机械臂目标自由度确定多组机械臂设计参数，可以理解的，在机械臂的每一个关节仅有一个关节驱动器，即每一个关节仅有一个关节转轴的情况下，每一个关节代表一个自由度，因此，根据机械臂目标自由度可以确定机械臂的关节数目和连杆数目。例如，若机械臂目标自由度是6，则可以确定机械臂包括6个关节，6个连杆，即机械臂的操作台与第一个关节驱动器之间的连杆记为第一个连杆，第j关节驱动器和第j+1个关节驱动器之间的连杆记为第j+1个连杆，1≤j≤J-1，J表示机械臂的关节总数，即关节驱动器的总数。
进一步的，每一组机械臂设计参数包括机械臂各个关节驱动器的关节转轴方向、各个关节驱动器的中心位置、各个连杆与相应关节驱动器的连接方式、各个连杆与质量相关的属性参数。其中，各个连杆与质量相关的属性参数包括各个连杆的长度、各个连杆的厚度和连杆材料等属性。
示范性的，如图2所示，示出了一种圆柱形机械臂连杆的截面图，连杆的外径表示 为D，连杆的内径表示为d，连杆的厚度表示为k2。其中，连杆的外径和内径由关节驱动器的类型决定。
示范性的，可以根据机械臂目标自由度确定每一组机械臂设计参数中的机械臂各个关节驱动器的关节转轴方向，可以在机械臂各个关节驱动器的关节转轴位于同一平面的情况下：根据所述目标自由度确定所述关节转轴方向的全部第一二值化编码，所述第一二值化编码的长度等于所述目标自由度，所述第一二值化编码的第j位编码代表机械臂第j个关节驱动器的关节转轴方向，1≤j≤J，J表示所述机械臂的关节驱动器总数。
进一步的，可以预先将水平方向的关节转轴定义为0；将竖直方向的关节转轴定义为1；根据各个关节的连接顺序可以依次排列各个关节驱动器的关节转轴对应的预定义编码以确定第一二值化编码。
示范性的，如图3所示，机械臂UR5的各个关节驱动器的关节转轴方向对应的第一二值化编码为011101，机械臂HC10的各个关节驱动器的关节转轴方向对应的第一二值化编码为011010。
进一步的，对于目标自由度为n的机械臂，每一个关节驱动器的关节转轴方向都存在2中种可能的情况，因此，目标自由度为n的机械臂存在2n种第一二值化编码，每一种第一二值化编码对应一种机械臂的各个关节驱动器的关节转轴方向。
当然，也可以预先将水平方向的关节转轴定义为1；将竖直方向的关节转轴定义为0，只要保证对水平方向的关节转轴和竖直方向的关节转轴定义为不同的数值即可，通过二维参数化编码可以提高计算机设备的计算效率，使得计算机设备可以快速准确的确定机械臂的基础构型。
进一步的，可以根据机械臂目标自由度确定每一组机械臂设计参数中的机械臂各个连杆与相应的关节驱动器的连接方式，包括：根据所述目标自由度确定所述连接方式的全部第二二值化编码，第二二值化编码的长度等于所述目标自由度，第二二值化编码的第一位编码代表第一个连杆与机械臂的操作台和第一个关节驱动器之间的连接方式，第j位编码代表第j个连杆与第j-1个关节驱动器和第j个关节驱动器之间的连接方式，2≤j≤J，J表示所述机械臂的关节总数。
示范性的，可以将机械臂的操作台与第一个关节驱动器之间的连杆记为第一个连杆；可以将第j个关节驱动器和第j+1个关节驱动器之间的连杆记为第j+1个连杆。
在j＝1时，若第一个关节驱动器随着第一个连杆运动，则将第一个连杆与机械臂的操作台和所述第一个关节驱动器的连接方式定义为1；若第一个关节驱动器随着第二个连杆运动，则将第一个连杆与所述操作台和所述第一个关节驱动器的连接方式定义为0。
在j＞1时，若第j个关节驱动器随着第j个连杆运动，则将第j个连杆与所述第j个关节驱动器和所述第j+1个关节驱动器的连接方式定义为0；若第j个关节驱动器随着第j+1个连杆运动，则将第j个连杆与所述第j个关节驱动器和所述第j+1个关节驱动器的连接方式定义为1。
进一步的，若连接方式为0，则第j+1个连杆与第j个关节驱动器和第j+1个关节驱动器对应的连接方式如图4所示，第j+1个连杆只能从第j个关节驱动器的末端连出；若连接方式为1，则第j+1个连杆与第j个关节驱动器和第j+1个关节驱动器对应的连接 方式可能如图4所示，也可能如图5所示，第j+1个连杆从第j个关节驱动器中部垂直连出。
示范性的，机械臂UR5对应的第二二值化编码为110000，大族机械臂对应的第二二值化编码为101010。
进一步的，对于目标自由度为n的机械臂，每一个连杆与相应的关节驱动器的连接方式都存在2中种可能的情况，因此，目标自由度为n的机械臂存在2n种第二二值化编码，每一种第二二值化编码对应一种机械臂的各个连杆与相应的关节驱动器的连接方式。
当然，也可以对连接方式做以下预定义：在j＝1时，若第一个关节驱动器随着第一个连杆运动，则将第一个连杆与机械臂的操作台和所述第一个关节驱动器的连接方式定义为0；若第一个关节驱动器随着第二个连杆运动，则将第一个连杆与所述操作台和所述第一个关节驱动器的连接方式定义为1；在j＞1时，若第j个关节驱动器随着第j个连杆运动，则将第j个连杆与所述第j个关节驱动器和所述第j+1个关节驱动器的连接方式定义为1；若第j个关节驱动器随着第j+1个连杆运动，则将第j个连杆与所述第j个关节驱动器和所述第j+1个关节驱动器的连接方式定义为0。只要保证不同的连接方式定义为不同的数值即可，通过二维参数化编码使得计算机设备可以快速准确的确定机械臂的基础构型。
S200：根据预设的机械臂优化目标和预设的机械臂限制条件确定每一组机械臂设计参数对应的机械臂性能评估指标。
机械臂优化目标可以有多种，例如，机械臂灵活性最强、机械臂总质量最小、机械臂操作空间最大和机械臂总刚度最小等。机械臂优化目标也可以有多个，例如，机械臂总质量最小且机械臂操作空间最大。机械臂限制条件可以有多种，例如，机械臂总刚度满足预定范围、机械臂总质量满足预定范围和机械臂操作空间满足预定范围等。机械臂优化目标和机械臂限制条件的设定需要考虑了机械臂构型在实际设计中的可实现性，根据预设的机械臂优化目标和预设的机械臂限制条件设计机械臂的方案和其它的单纯只分析构型的方法相比，避免了构型的过于理想化，导致在实际中难以实现的问题。
示范性的，机械臂优化目标可以为机械臂总质量最小且机械臂操作空间最大，机械臂限制条件可以为所述机械臂总刚度满足预定范围，对应的机械臂性能评估指标包括每一组机械臂设计参数对应机械臂总质量、机械臂总刚度和机械臂操作空间。
进一步的，在所述机械臂优化目标为机械臂总质量最小且机械臂操作空间最大，所述机械臂限制条件为所述机械臂总刚度满足预定范围时，所述对应的机械臂性能评估指标包括每一组机械臂设计参数对应机械臂总质量、机械臂总刚度和机械臂操作空间，所述确定每一组机械臂设计参数对应的机械臂性能评估指标，包括：
可以根据第i组机械臂设计参数对应的机械臂各个关节驱动器的关节转轴方向、各个关节驱动器的中心位置、各个连杆与相应关节驱动器的连接方式和各个连杆与质量相关的属性参数确定第i种机械臂构型，1≤i≤I，I表示有I组机械臂设计参数；根据所述第i种机械臂构型确定所述第i组机械臂设计参数对应的最小质量的关节驱动器和机械臂操作空间；根据所述第i组机械臂设计参数对应的最小质量的关节驱动器确定各个 连杆的外径；根据所述第i组机械臂设计参数对应的最小质量的关节驱动器、所述各个连杆的外径和各个连杆与质量相关的属性参数确定所述第i组机械臂设计参数对应的机械臂总质量；根据所述第i组机械臂设计参数对应的各个连杆的外径和各个连杆与质量相关的属性参数确定所述第i组机械臂设计参数对应的机械臂总刚度。
可以理解，根据所述第i组机械臂设计参数对应的最小质量的关节驱动器、所述各个连杆的外径和各个连杆与质量相关的属性参数确定的机械臂总质量可能与实际的机械臂总质量存在差异，但作为横向对比指标，可以衡量每一组机械臂设计参数对机械臂总质量的影响。
S300：根据所述机械臂优化目标、所述机械臂限制条件和所述对应的机械臂性能评估指标优化多组机械臂设计参数。
由于，每一组机械臂设计参数与机械臂性能评估指标之间均是非线性关系，因此可以利用遗传算法或粒子群算法或加权目标函数或其他优化算法根据预设的机械臂优化目标、预设的机械臂限制条件和每一组机械臂设计参数对应的机械臂性能评估指标优化多组机械臂设计参数。
采用智能优化算法(遗传算法或粒子群算法或加权目标函数或其他优化算法)，根据所述机械臂优化目标、所述机械臂限制条件和所述对应的机械臂性能评估指标优化多组机械臂设计参数，可以避免受到不同设计人员主观和经验的影响。
S400：从优化后的多组机械臂设计参数中选择满足所述机械臂限制条件并且最接近所述机械臂优化目标的一组机械臂设计参数。
示范性的，若机械臂优化目标为机械臂总质量最小且操作空间最大，则优化后的多组机械臂设计参数对应的帕累托最优(Pareto Optimality)解如图6所示，纵坐标为操作空间指标(是对可到达点数进行倒数和归一化后确定的操作空间指标)，因此，操作空间指标越小，则操作空间越大。横坐标表示机械臂总质量。图6中A点右侧的各个点对应的操作空间与A点对应的操作空间近似相同，但是，A点右侧的各个点对应的机械臂总质量明显增大，若以机械臂总质量最小且操作空间最大作为机械臂优化目标，则A点对应的优化后的一组机械臂设计参数可以用于设计机械臂。
本实施例根据机械臂目标自由度设计多组机械臂设计参数，根据预设的机械臂优化目标、预设的机械臂限制条件、每一组机械臂设计参数对应的关节驱动器、机械臂总质量、机械臂总刚度和机械臂操作空间优化多组机械臂设计参数，从优化后的多组机械臂设计参数中选择满足所述机械臂限制条件并且最接近所述机械臂优化目标的一组机械臂设计参数，根据满足所述机械臂限制条件并且最接近所述机械臂优化目标的一组机械臂设计参数设计机械臂。本实施例的技术方案不依赖已有的机械臂，克服已有机械臂的结构、驱动器类型等方面的限制，提供一种从无到有的机械臂设计方案，可以根据设计人员预先设置的机械臂限制条件和机械臂优化目标确定最优的机械臂，提高机械臂设计的灵活性。
实施例2
本申请的一个实施例，提出一种确定最小质量的关节驱动器的方法，该方法包括：
在所述机械臂为所述第i种机械臂构型且所述机械臂的各个关节驱动器为第k种关 节驱动器时，利用预设方法确定此时待判断关节驱动器(第k种关节驱动器)对应的最大力矩和平均力矩，2≤k≤K，K表示有K种关节驱动器。
若所述第k种关节驱动器对应的最大力矩大于第一力矩阈值和平均力矩大于第二力矩阈值，则将第k-1种关节驱动器作为待判断关节驱动器，继续利用预设方法确定此时待判断关节驱动器(第k-1种关节驱动器)对应的最大力矩和平均力矩，直至确定最大力矩大于第一力矩阈值且平均力矩大于第二力矩阈值且质量最小的关节驱动器为止，所述第k-1种关节驱动器的质量小于第k种关节驱动器的质量。
若所述第k种关节驱动器对应的最大力矩小于等于第一力矩阈值或平均力矩小于等于第二力矩阈值，则将第k+1种关节驱动器作为待判断关节驱动器，继续利用预设方法确定此时待判断关节驱动器(第k+1种关节驱动器)对应的最大力矩和平均力矩，直至确定最大力矩大于第一力矩阈值且平均力矩大于第二力矩阈值且质量最小的关节驱动器为止，所述第k+1种关节驱动器的质量大于第k种关节驱动器的质量。
进一步的，所述预设方法包括：获取机械臂的预定运动轨迹、待判断关节驱动器的质量、待判断关节驱动器的转动惯量和机械臂末端的最大承重；根据所述待判断关节驱动器确定对应连杆的重量和对应连杆的转动惯量；利用牛顿运动方程根据所述待判断关节驱动器的质量、所述待判断关节驱动器的转动惯量、所述机械臂末端的最大承重、所述对应连杆的质量和所述对应连杆的转动惯量确定所述第i种机械臂构型对应的机械臂完成所述预定运动轨迹过程中的最大力矩和平均力矩。
在机械臂完成预定运动轨迹过程中，关节驱动器型号和输出的力矩是耦合相关的，关节驱动器的质量越大，输出的力矩越大，因此，可以通过迭代计算确定满足预设条件且质量最小的关节驱动器。
实施例3
本申请的一个实施例，假设各个连杆为空心圆柱，根据所述第i组机械臂设计参数对应的各个连杆的外径和各个连杆与质量相关的属性参数确定所述第i组机械臂设计参数对应的机械臂总刚度，包括：
利用材料力学理论根据第i组机械臂设计参数对应的每一个连杆的外径和每一个连杆与质量相关的属性参数确定每一个连杆末端的轴向分力产生的拉压变形、轴向力矩产生的扭转变形、法向分力产生的弯曲变形和法向力矩产生的弯曲变形；根据第i组机械臂设计参数对应的所有连杆末端的轴向分力产生的拉压变形、轴向力矩产生的扭转变形、法向分力产生的弯曲变形和法向力矩产生的弯曲变形计算所述第i组机械臂设计参数对应的机械臂总刚度。
示范性的，由于将机械臂的各个连杆简化为空心圆柱，每一个连杆可能包括一段空心圆柱，也可能包括多段空心圆柱，其刚度可以采用材料力学理论进行估计。根据叠加原理，对每一段空心圆柱在末端产生的变形进行叠加，即为机械臂在末端产生的总变形，作为机械臂总刚度的度量。每段空心圆柱受到的载荷包括其子关节驱动器和连杆的重量和末端载荷的重量，可以考虑各种不同姿态下的情况。一般情况下，如图7所示，对于一段空心圆柱，受到作用点位于Pf的作用力f时，其在机械臂末端位置Pe处产生的变形(位移)可以采用以下方法获得：
首先，定义空心圆柱的轴向单位矢量为r a，方向为从固定端(近机械臂基座)指向受载端(近机械臂末端)。可以将载荷分解为轴向分力和法向分力f＝f ar a+f rr r，r r为对应的法向单位矢量(参见图8)。载荷产生的力矩为M＝(p f-p l)×f，其中，p l是空心圆柱受载端的位置矢量。力矩也可以分解为轴向分量和法向分量M＝M ar a+M rr m，其中，r m＝r a×r r。参见图8，轴向分力产生拉压变形dten、轴向力矩产生扭转变形dtor、法向分力弯曲变形
Figure PCTCN2021131461-appb-000001
和法向力矩产生弯曲变形
Figure PCTCN2021131461-appb-000002
图8中
Figure PCTCN2021131461-appb-000003
Figure PCTCN2021131461-appb-000004
其中，拉压变形计算公式为：
Figure PCTCN2021131461-appb-000005
其中，L是空心圆柱的长度，E是材料的杨氏模量，A是空心圆柱的横截面积。
扭转产生的扭转角计算公式为
Figure PCTCN2021131461-appb-000006
其中，G是材料的切变模量，Ip是横截面对其中心的极惯性矩。
轴向力矩产生扭转变形为
Figure PCTCN2021131461-appb-000007
其中，R表示绕给定轴r a旋转给定角度θtor产生的旋转矩阵。
法向力力矩产生的弯曲挠度为
Figure PCTCN2021131461-appb-000008
法向力矩产生的弯曲挠度分别为
Figure PCTCN2021131461-appb-000009
其中，I是横截面对中性轴的惯性矩。
法向力产生的弯曲转角为
Figure PCTCN2021131461-appb-000010
法向力矩产生的弯曲转角分别是
Figure PCTCN2021131461-appb-000011
进一步的，法向力在机械臂末端产生的位移为：
Figure PCTCN2021131461-appb-000012
进一步的，法向力矩在机械臂末端产生的位移为：
Figure PCTCN2021131461-appb-000013
第j个连杆的第p段空心圆柱在末端产生的变形(位移)为：
Figure PCTCN2021131461-appb-000014
第j个连杆在机械臂的末端产生变形的总和为
Figure PCTCN2021131461-appb-000015
P表示第j个连杆总共包括P段空心圆柱。
通过上述方法可以确定每个连杆的每一段空心圆柱在机械臂末端变形的叠加。综上 所述，可以求得所有连杆在机械臂末端产生的总变形，进而可以确定机械臂总刚度。该方法是用于估算给定机械臂设计参数的情况下的机械臂总刚度，可能与实际设计出的机械臂总刚度存在差异，但作为横向对比指标，可以衡量机械臂设计参数对机械臂总刚度的影响。
实施例4
机械臂操作空间需要通过逆运动学进行分析。逆运动学是已知末端的6自由度姿态，计算关节角度的方法。可以通过是否存在逆运动学解来判断空间位置是否能够到达，从而分析操作空间。一般来说，如果最后一个关节转动范围能够从0到2π，只需由机械臂末端的方向计算前面关节的角度。根据齐次变换方法，机械臂末端相对于世界坐标系的位姿可以通过链式法则获得
Figure PCTCN2021131461-appb-000016
其中，
Figure PCTCN2021131461-appb-000017
表示第j个关节到第j-1个关节的齐次变换矩阵，包括平移和旋转。其中旋转包括原始构型下关节的相对位置与关节自身旋转。其中包含了前五个关节的旋转角度，但不考虑第六个关节。因此方程存在5个未知数。另方程两侧的平移分量分别相等，可以得到3个方程。其中的旋转分量可以确定末端的方向，即
Figure PCTCN2021131461-appb-000018
方程右侧是末端方向的单位矢量。分量分别相等，可以得到3个方程，但只可得到两个相互独立的方程。因此一共可得到5个方程求解5个未知数。
可以采用牛顿迭代法求解非线性方程组的解。由于给定初值只能获得一组解，实际存在多组可行解。因此进行多次求解，每次求解记录下初值到解之间的范围，在下次求解时在该范围外给初值。至少存在一组满足要求可行解，即表明该空间位置能够到达。
判断解的可行性需要满足无碰撞条件。由于机械臂的驱动器和连杆的外轮廓都可以采用圆柱表示，可以判断两两之间是否发生干涉来确定无碰撞条件。同时可考虑环境中必要的障碍物等。
操作空间的计算方法：在所关注的空间内均匀取样，进行可到达性判定，可到达的位置越多，表明操作空间越大。
示范性的，在预定的空间区域内均匀采集多个空间位置；确定第i组机械臂设计参数对应的机械臂的末端与每一个空间位置之间的可达性；利用第i组机械臂设计参数对应的机械臂的末端能到达的多个空间位置表示对应的机械臂操作空间。
实施例5
本申请的一个实施例，如图9所示，提出一种机械臂设计装置10包括：参数化模块11、确定模块12、优化模块13和选择模块14。
参数化模块11，用于根据机械臂目标自由度确定多组机械臂设计参数，每一组机械臂设计参数用于设计一种机械臂；确定模块12，用于根据预设的机械臂优化目标和预设的机械臂限制条件确定每一组机械臂设计参数对应的机械臂性能评估指标；优化模块13，用于根据所述机械臂优化目标、所述机械臂限制条件和所述对应的机械臂性能评估指标优化多组机械臂设计参数；选择模块14，用于从优化后的多组机械臂设计参数中选择满 足所述机械臂限制条件并且最接近所述机械臂优化目标的一组机械臂设计参数。
进一步的，所述每一组机械臂设计参数包括机械臂各个关节驱动器的关节转轴方向、各个关节驱动器的中心位置、各个连杆与相应关节驱动器的连接方式、各个连杆与质量相关的属性参数。
进一步的，根据机械臂目标自由度确定每一组机械臂设计参数中的机械臂各个关节驱动器的关节转轴方向，包括：在机械臂各个关节驱动器的关节转轴位于同一平面的情况下：根据所述目标自由度确定所述关节转轴方向的全部第一二值化编码，所述第一二值化编码的长度等于所述目标自由度，所述第一二值化编码的第j位编码代表机械臂第j个关节驱动器的关节转轴方向，1≤j≤J，J表示所述机械臂的关节总数。
进一步的，根据机械臂目标自由度确定每一组机械臂设计参数中的机械臂各个连杆与相应的关节驱动器的连接方式，包括：根据所述目标自由度确定所述连接方式的全部第二二值化编码，第二二值化编码的长度等于所述目标自由度，第二二值化编码的第一位编码代表第一个连杆与机械臂的操作台和第一个关节驱动器之间的连接方式，第j位编码代表第j个连杆与第j-1个关节驱动器和第j个关节驱动器之间的连接方式，2≤j≤J，J表示所述机械臂的关节总数。
进一步的，在所述机械臂优化目标为机械臂总质量最小且机械臂操作空间最大，所述机械臂限制条件为所述机械臂总刚度满足预定范围时，所述对应的机械臂性能评估指标包括每一组机械臂设计参数对应机械臂总质量、机械臂总刚度和机械臂操作空间，所述确定每一组机械臂设计参数对应的机械臂性能评估指标，包括：根据第i组机械臂设计参数对应的机械臂各个关节驱动器的关节转轴方向、各个关节驱动器的中心位置、各个连杆与相应关节驱动器的连接方式和各个连杆与质量相关的属性参数确定第i种机械臂构型，1≤i≤I，I表示有I组机械臂设计参数；根据所述第i种机械臂构型确定所述第i组机械臂设计参数对应的最小质量的关节驱动器和机械臂操作空间；根据所述第i组机械臂设计参数对应的最小质量的关节驱动器确定各个连杆的外径；根据所述第i组机械臂设计参数对应的最小质量的关节驱动器、所述各个连杆的外径和各个连杆与质量相关的属性参数确定所述第i组机械臂设计参数对应的机械臂总质量；根据所述各个连杆的外径和各个连杆与质量相关的属性参数确定对应的机械臂总刚度。
进一步的，根据所述第i种机械臂构型确定所述第i组机械臂设计参数对应的最小质量的关节驱动器，包括：在所述机械臂为所述第i种机械臂构型且所述机械臂的各个关节驱动器为第k种关节驱动器时，利用预设方法确定第k种关节驱动器对应的最大力矩和平均力矩，所述第k种关节驱动器为待判断关节驱动器，2≤k≤K，K表示有K种关节驱动器；若所述第k种关节驱动器对应的最大力矩大于第一力矩阈值和平均力矩大于第二力矩阈值，则将第k-1种关节驱动器作为待判断关节驱动器，继续利用预设方法确定第k-1种关节驱动器对应的最大力矩和平均力矩，直至确定最大力矩大于第一力矩阈值且平均力矩大于第二力矩阈值且质量最小的关节驱动器为止，所述第k-1种关节驱动器的质量小于第k种关节驱动器的质量。
进一步的，所述预设方法包括：获取机械臂的预定运动轨迹、待判断关节驱动器的质量、待判断关节驱动器的转动惯量和机械臂末端的最大承重；根据所述待判断关节驱 动器确定对应连杆的重量和对应连杆的转动惯量；根据所述待判断关节驱动器的质量、所述待判断关节驱动器的转动惯量、所述机械臂末端的最大承重、所述对应连杆的质量和所述对应连杆的转动惯量确定所述第i种机械臂构型对应的机械臂完成所述预定运动轨迹过程中的最大力矩和平均力矩。
进一步的，各个连杆为空心圆柱，所述根据所述第i组机械臂设计参数对应的各个连杆的外径和各个连杆与质量相关的属性参数确定所述第i组机械臂设计参数对应的机械臂总刚度，包括：利用材料力学理论根据第i组机械臂设计参数对应的每一个连杆的外径和每一个连杆与质量相关的属性参数确定每一个连杆末端的轴向分力产生的拉压变形、轴向力矩产生的扭转变形、法向分力产生的弯曲变形和法向力矩产生的弯曲变形；根据第i组机械臂设计参数对应的所有连杆末端的轴向分力产生的拉压变形、轴向力矩产生的扭转变形、法向分力产生的弯曲变形和法向力矩产生的弯曲变形计算所述第i组机械臂设计参数对应的机械臂总刚度。
进一步的，根据所述第i种机械臂构型确定机械臂操作空间，包括：在预定的空间区域内均匀采集多个空间位置；确定第i组机械臂设计参数对应的机械臂的末端与每一个空间位置之间的可达性；利用第i组机械臂设计参数对应的机械臂的末端能到达的多个空间位置表示对应的机械臂操作空间。
本实施例公开的机械臂设计装置10通过参数化模块11、确定模块12、优化模块13和选择模块14的配合使用，用于执行上述实施例所述的机械臂设计方法，上述实施例所涉及的实施方案以及有益效果在本实施例中同样适用，在此不再赘述。
如图10所示，本申请还提出一种计算机设备100，包括存储器110和处理器120，所述存储器110存储有计算机程序，所述计算机程序在所述处理器120上运行时执行本申请所述的机械臂设计方法。
本申请还涉及一种可读存储介质，其存储有计算机程序，所述计算机程序在处理器上运行时执行本申请所述的机械臂设计方法。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，附图中的流程图和结构图显示了根据本申请的多个实施例的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，结构图和/或流程图中的每个方框、以及结构图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
另外，在本申请各个实施例中的各功能模块或单元可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或更多个模块集成形成一个独立的部分。
所述功能如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个可读存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是智能手机、个人计算机、服务器、或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的可读存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。

Claims (11)

  1. 一种机械臂设计方法，其特征在于，所述方法包括：
    根据机械臂目标自由度确定多组机械臂设计参数，每一组机械臂设计参数用于设计一种机械臂；
    根据预设的机械臂优化目标和预设的机械臂限制条件确定每一组机械臂设计参数对应的机械臂性能评估指标；
    根据所述机械臂优化目标、所述机械臂限制条件和所述对应的机械臂性能评估指标优化多组机械臂设计参数；
    从优化后的多组机械臂设计参数中选择满足所述机械臂限制条件并且最接近所述机械臂优化目标的一组机械臂设计参数。
  2. 根据权利要求1所述的机械臂设计方法，其特征在于，所述每一组机械臂设计参数包括机械臂各个关节驱动器的关节转轴方向、各个关节驱动器的中心位置、各个连杆与相应关节驱动器的连接方式、各个连杆与质量相关的属性参数。
  3. 根据权利要求2所述的机械臂设计方法，其特征在于，根据机械臂目标自由度确定每一组机械臂设计参数中的机械臂各个关节驱动器的关节转轴方向，包括：
    在机械臂各个关节驱动器的关节转轴位于同一平面的情况下：
    根据所述目标自由度确定所述关节转轴方向的全部第一二值化编码，所述第一二值化编码的长度等于所述目标自由度，所述第一二值化编码的第j位编码代表机械臂第j个关节驱动器的关节转轴方向，1≤j≤J，J表示所述机械臂的关节驱动器总数。
  4. 根据权利要求2所述的机械臂设计方法，其特征在于，根据机械臂目标自由度设计每一组机械臂设计参数中的机械臂各个连杆与相应的关节驱动器的连接方式，包括：
    根据所述目标自由度确定所述连接方式的全部第二二值化编码，第二二值化编码的长度等于所述目标自由度，第二二值化编码的第一位编码代表第一个连杆与机械臂的操作台和第一个关节驱动器之间的连接方式，第j位编码代表第j个连杆与第j-1个关节驱动器和第j个关节驱动器之间的连接方式，2≤j≤J，J表示所述机械臂的关节驱动器总数。
  5. 根据权利要求2所述的机械臂设计方法，其特征在于，在所述机械臂优化目标为机械臂总质量最小且机械臂操作空间最大，所述机械臂限制条件为所述机械臂总刚度满足预定范围时，所述对应的机械臂性能评估指标包括每一组机械臂设计参数对应机械臂总质量、机械臂总刚度和机械臂操作空间，所述确定每一组机械臂设计参数对应的机械臂性能评估指标，包括：
    根据第i组机械臂设计参数对应的机械臂各个关节驱动器的关节转轴方向、各个关节驱动器的中心位置、各个连杆与相应关节驱动器的连接方式和各个连杆与质量相关的属性参数确定第i种机械臂构型，1≤i≤I，I表示有I组机械臂设计参数；
    根据所述第i种机械臂构型确定所述第i组机械臂设计参数对应的最小质量的关节驱动器和机械臂操作空间；
    根据所述第i组机械臂设计参数对应的最小质量的关节驱动器确定各个连杆的外径；
    根据所述第i组机械臂设计参数对应的最小质量的关节驱动器、所述各个连杆的外径和各个连杆与质量相关的属性参数确定所述第i组机械臂设计参数对应的机械臂总质量；
    根据所述第i组机械臂设计参数对应的各个连杆的外径和各个连杆与质量相关的属性参数确定所述第i组机械臂设计参数对应的机械臂总刚度。
  6. 根据权利要求5所述的机械臂设计方法，其特征在于，根据所述第i种机械臂构型确定所述第i组机械臂设计参数对应的最小质量的关节驱动器，包括：
    在所述机械臂为所述第i种机械臂构型且所述机械臂的各个关节驱动器为第k种关节驱动器时，利用预设方法确定第k种关节驱动器对应的最大力矩和平均力矩，所述第k种关节驱动器为待判断关节驱动器，2≤k≤K，K表示有K种关节驱动器；
    若所述第k种关节驱动器对应的最大力矩大于第一力矩阈值和平均力矩大于第二力矩阈值，则将第k-1种关节驱动器作为待判断关节驱动器，继续利用所述预设方法确定第k-1种关节驱动器对应的最大力矩和平均力矩，直至确定最大力矩大于所述第一力矩阈值且平均力矩大于所述第二力矩阈值且质量最小的关节驱动器为止，所述第k-1种关节驱动器的质量小于第k种关节驱动器的质量；
    所述预设方法包括：
    获取机械臂的预定运动轨迹、待判断关节驱动器的质量、待判断关节驱动器的转动惯量和机械臂末端的最大承重；
    根据所述待判断关节驱动器确定对应连杆的重量和对应连杆的转动惯量；
    根据所述待判断关节驱动器的质量、所述待判断关节驱动器的转动惯量、所述机械臂末端的最大承重、所述对应连杆的质量和所述对应连杆的转动惯量确定所述第i种机械臂构型对应的机械臂完成所述预定运动轨迹过程中的最大力矩和平均力矩。
  7. 根据权利要求5所述的机械臂设计方法，其特征在于，各个连杆为空心圆柱，所述根据所述第i组机械臂设计参数对应的各个连杆的外径和各个连杆与质量相关的属性参数确定所述第i组机械臂设计参数对应的机械臂总刚度，包括：
    利用材料力学理论根据第i组机械臂设计参数对应的每一个连杆的外径和每一个连杆与质量相关的属性参数确定每一个连杆末端的轴向分力产生的拉压变形、轴向力矩产生的扭转变形、法向分力产生的弯曲变形和法向力矩产生的弯曲变形；
    根据第i组机械臂设计参数对应的所有连杆末端的轴向分力产生的拉压变形、轴向力矩产生的扭转变形、法向分力产生的弯曲变形和法向力矩产生的弯曲变形计算所述第i组机械臂设计参数对应的机械臂总刚度。
  8. 根据权利要求5所述的机械臂设计方法，其特征在于，根据所述第i种机械臂构型确定机械臂操作空间，包括：
    在预定的空间区域内均匀采集多个空间位置；
    确定第i组机械臂设计参数对应的机械臂的末端与每一个空间位置之间的可达性；
    利用第i组机械臂设计参数对应的机械臂的末端能到达的多个空间位置表示对应的机械臂操作空间。
  9. 一种机械臂设计装置，其特征在于，所述装置包括：
    参数化模块，用于根据机械臂目标自由度确定多组机械臂设计参数，每一组机械臂设计参数用于设计一种机械臂；
    确定模块，用于根据预设的机械臂优化目标和预设的机械臂限制条件确定每一组机械臂设计参数对应的机械臂性能评估指标；
    优化模块，用于根据所述机械臂优化目标、所述机械臂限制条件和所述对应的机械臂性能评估指标优化多组机械臂设计参数；
    选择模块，用于从优化后的多组机械臂设计参数中选择满足所述机械臂限制条件并且最接近所述机械臂优化目标的一组机械臂设计参数。
  10. 一种计算机设备，其特征在于，包括存储器和处理器，所述存储器存储有计算机程序，所述计算机程序在所述处理器上运行时执行权利要求1至8任一项所述的机械臂设计方法。
  11. 一种可读存储介质，其特征在于，其存储有计算机程序，所述计算机程序在处理器上运行时执行权利要求1至8任一项所述的机械臂设计方法。
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