摘要
针对打磨作业中打磨装置末端执行器与工件表面接触过程中存在的运动控制规律不便调节和碰撞冲击的问题,对末端执行器在自由空间的运动控制方法进行研究,提出了一种改进型变权重梯形速度优化算法。该算法由变加速段、匀速段和变减速段三段组成,其加减速段所占整个运动周期的权重值可调、匀速段速度为一常量且加速度物理可实现。改变该权重值可以调节接触过程的运动控制规律;变加速度及稳态极小速度能减少接触时的碰撞。通过MATLAB与ADAMS联合仿真,结果表明,相比传统的梯形速度控制算法,采用改进型变权重梯形速度优化算法在总位移相同时,运动周期更短,运动过程更加平稳,且碰撞冲击力较小,有效地改善了打磨装置的工作性能。
For the problems of inconvenient adjustment and collision impact of the motion control law existing in the process of contact between the end effector of the grinding device and the workpiece surface in the grinding operation,the motion control method of the end effector in free space is studied,and an improved variable weight trapezoidal speed optimization algorithm is proposed.The algorithm consists of three stages:variable acceleration section,uniform velocity section and variable deceleration section.The weighting value of the acceleration/deceleration section is adjustable,the velocity of the uniform velocity section is constant,and the acceleration is physically achievable.Changing the weight value can adjust the motion control law of the contact process;the variable acceleration and the steady-state minimum speed can reduce the collision at the time of contact.Through the combination of MATLAB and ADAMS simulation,the results show that compared with the traditional trapezoidal speed control algorithm,when the total displacement is the same,the motion period of the improved variable weight trapezoidal speed optimization algorithm has a shorter total motion period,a more stable motion process,and a smaller impact impact force,which effectively improves the performance of the grinding device.
作者
吴鹏飞
单奇
罗新河
蔡正凯
WU Peng-fei;SHAN Qi;LUO Xin-he;CAI Zheng-kai(School of Mechanical Engineering,Southwest Jiao Tong University,Sichuan Chengdu 610031,China)
出处
《机械设计与制造》
北大核心
2021年第8期113-116,共4页
Machinery Design & Manufacture
基金
国家自然科学基金(51475387)。
关键词
梯形速度
变权重
ADAMS
自由空间
变加速度
Trapezoidal Speed
Variable Weight
ADAMS
Free Space
Variable Acceleration
