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浙江大学学报(工学版)
浙江大学学报(工学版)  2022, Vol. 56 Issue (9): 1882-1890    DOI: 10.3785/j.issn.1008-973X.2022.09.022
机械工程     
基于最小流量的液压机械臂冗余分解
丁孺琦1,2(),李望笃1,2,李刚1,2,*(),胡国良1,2
1. 华东交通大学 载运工具与装备教育部重点实验室，江西 南昌 330013
2. 华东交通大学 南昌市车辆智能装备与控制重点实验室，江西 南昌 330013
Redundancy resolution of hydraulic manipulators based on minimum-flow
Ru-qi DING1,2(),Wang-du LI1,2,Gang LI1,2,*(),Guo-liang HU1,2
1. Key Laboratory of Conveyance and Equipment, Ministry of Education, East China Jiaotong University, Nanchang 330013, China
2. Nanchang Key Laboratory of Vehicle Intelligent Equipment and Control, East China Jiaotong University, Nanchang 330013, China
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摘要：

针对冗余液压机械臂预设轨迹下的能量优化问题，提出基于最小流量的液压机械臂冗余分解方法. 采用D-H参数法推导液压机械臂的运动学方程，构建末端速度与液压缸缸速的映射，建立系统能耗模型. 基于最小缸速范数法求解能量次优的冗余分解以部分降低能耗. 以液压系统流量最小为目标，通过优化加权雅可比矩阵求解能量最优的冗余分解. 为了提高计算效率，提出加权雅可比矩阵权值的动态优化方法，实现在线最优运动规划. 在研制的液压机械臂试验平台对冗余分解方法进行试验验证. 三关节平面运动试验结果表明，相比于现有梯度投影法和最小缸速范数法，所提最小流量优化方法相同末端轨迹的运动能耗降低超过5%.
关键词： 液压机械臂;  运动规划;  冗余分解;  动态权值;  节能    
Abstract:

A redundant resolution method of hydraulic manipulator with minimum-flow was proposed, aiming at the energy optimization problem of the redundant hydraulic manipulator with a preset trajectory. Firstly, the kinematic equations of the hydraulic manipulator were built by the Denavit-Hartenberg method, which maps the end-effector velocity to the hydraulic cylinder velocity, and establishes the energy consumption model of the system. Secondly, the energy suboptimal redundancy resolution was solved based on the minimum cylinder speed norm method to partially reduce the energy consumption. On this basis, taking the minimum flow of the hydraulic system as the objective, the redundant resolution of energy optimization was further solved by optimizing the weighted Jacobian matrix. Thirdly, to improve the computational efficiency, a dynamic optimization method of weighted Jacobian matrix weights was proposed, and the energy-optimal motion planning of the redundant hydraulic manipulators was captured online. Finally, the experimental verification was carried out on the developed hydraulic manipulator test platform. Experimental results of three joint planar motions showed that compared with the existing gradient projection method and the minimum cylinder speed norm method, the energy consumption of the same end-effector trajectory motion was reduced by more than 5%.
Key words: hydraulic manipulator    motion planning    redundancy resolution    dynamic-weight    energy saving
收稿日期: 2021-11-01 出版日期: 2022-09-28
CLC:  TH 137.9  
基金资助: 国家自然科学基金资助项目(52175050, U21A20124)；江西省自然科学基金资助项目(20212ACB214004)；中国博士后科学基金资助项目(2020M671349)
通讯作者: 李刚     E-mail: dingruqi@ecjtu.edu.cn;ligang0794@163.com
作者简介: 丁孺琦（1987—），男，副教授，从事机电液智能控制研究. orcid.org/0000-0002-1688-3421. E-mail： dingruqi@ecjtu.edu.cn
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丁孺琦
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引用本文:

丁孺琦,李望笃,李刚,胡国良. 基于最小流量的液压机械臂冗余分解[J]. 浙江大学学报(工学版), 2022, 56(9): 1882-1890.

Ru-qi DING,Wang-du LI,Gang LI,Guo-liang HU. Redundancy resolution of hydraulic manipulators based on minimum-flow. Journal of ZheJiang University (Engineering Science), 2022, 56(9): 1882-1890.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2022.09.022    或    https://www.zjujournals.com/eng/CN/Y2022/V56/I9/1882

图 1  冗余分解中的关节限位函数曲线
图 2  最小流量优化的求解流程图
图 3  冗余液压机械臂算例的机构示意图
图 4  液压机械臂各关节几何关系
i L/m d/mm $ {\beta _{i1}}{\text{/（o）}} $ $ {\beta _{i2}}{\text{/（o）}} $
1 0.875 63 7.16 5.10
2 0.360 63 18.30 161.14
3 0.740 45 9.69 90
表 1  液压机械臂算例的结构参数
图 5  试验测试的末端三角形轨迹
图 6  三角形轨迹下不同冗余分解方法的规划角度对比
图 7  试验测试的末端椭圆轨迹
图 8  椭圆轨迹下不同冗余分解方法的规划角度对比
图 9  冗余液压机械臂试验台及其控制系统
图 10  不同轨迹下不同冗余分解方法的关节角度试验对比
图 11  不同轨迹下不同冗余分解方法的末端轨迹对比
图 12  不同轨迹下不同冗余分解方法的系统流量对比
算法 Ec,t Ec,e
理论 试验 理论 试验
MF 10.17 11.39 15.76 16.84
MAVN 11.17 12.00 16.65 17.74
GP 11.21 12.04 16.68 17.78
平均节能 7.2% 5.1% 7.4% 5.3%
表 2  不同轨迹理论计算与试验验证能耗对比
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