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工程设计学报
工程设计学报  2020, Vol. 27 Issue (2): 172-181    DOI: 10.3785/j.issn.1006-754X.2020.00.026
保质设计     
刚柔协作3CD/2RPU-SPR搅拌摩擦焊机器人研究
张俊宝1, 侯红娟1, 刘健2, 孙丁丁1, 解磊磊1
1.河北工程大学 机械与装备工程学院， 河北 邯郸 056038;
2.复旦大学 工程与应用技术研究院， 上海 200433
Research on rigid-flexible 3CD/2RPU-SPR friction stir welding robot
ZHANG Jun-bao1, HOU Hong-juan1, LIU Jian2, SUN Ding-ding1, XIE Lei-lei1
1.School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China;
2.Academy for Engineering and Technology, Fudan University, Shanghai 200433, China
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摘要： 为满足搅拌摩擦焊技术的要求，解决搅拌摩擦焊机器人在顶锻力承受以及焊接灵活性方面存在的不足，在三自由度2RPU-SPR搅拌摩擦焊机器人基础上增加了3根绳索，设计了一种刚柔协作3CD/2RPU-SPR搅拌摩擦焊机器人。基于运动学建模，运用封闭矢量法分别计算了3CD/2RPU-SPR搅拌摩擦焊机器人刚性部分与绳索部分的位置逆解；运用求导法求得了机器人刚性部分与绳索部分的速度雅克比矩阵，并运用特征长度法将雅克比矩阵无量纲化，基于求得的速度无量纲雅克比矩阵，利用MATLAB软件分别对添加绳索前后的搅拌摩擦焊机器人的各项运动学性能指标进行编程求解；应用遗传算法对3CD/2RPU-SPR搅拌摩擦焊机器人的性能指标进行优化，通过设定最优个体系数、种群数目、遗传进化次数，对满足3CD/2RPU-SPR搅拌摩擦焊接机器人全域刚度以及全域灵巧性的结构参数进行寻优求解。结果表明：3CD/2RPU-SPR搅拌摩擦焊机器人的承载力、灵巧性、全域灵巧性、刚度、全域刚度等性能指标均有所提高，且在综合考虑灵巧性以及刚度的优质工作空间内运动连续，说明3CD/2RPU-SPR搅拌摩擦焊机器人相较于2RPU-SPR搅拌摩擦焊机器人能够承受更大的顶锻力，且运动灵活性有所提高。通过遗传算法优化后找到符合3CD/2RPU-SPR搅拌摩擦焊机器人全域灵巧性以及全域刚度的10组结构参数，在综合考虑搅拌摩擦焊接工况下，从10组结构参数中选取最优的一组作为搅拌摩擦焊机器人的结构参数，在该结构参数下，机器人性能指标有所提高，更适合完成搅拌摩擦焊接工作。研究为提高机器人搅拌摩擦焊接质量提供了理论依据。
关键词： 搅拌摩擦焊;  刚柔协作;  雅克比矩阵;  性能指标    
Abstract: In order to meet the requirements of friction stir welding technology and solve the shortage of friction stir welding robots in withstanding upset forces and welding flexibility，a rigid-flexible 3CD/2RPU-SPR friction stir welding robot was designed by adding 3 ropes to the 3DOF 2RPU-SPR friction stir welding robot. The kinematics modeling was carried out，the closed vector method was used to obtain the inverse solutions of the positions of the rigid part and the rope part of the 3CD/2RPU-SPR friction stir welding robot，the derivative method was used to obtain the velocity Jacobian matrix of the rigid part and the rope part, and the characteristic length method was used to dimensionless the Jacobian matrix. According to the dimensionless velocity Jacobian matrix, the MATLAB software was used to program and solve the kinematic performance indicators of the friction stir welding robot before and after adding the rope. The performance indicators of 3CD/2RPU-SPR friction stir welding robot were optimized by genetic algorithm, the structural parameters satisfying the global stiffness and global dexterity of 3CD/2RPU-SPR friction stir welding robot were optimized by setting the optimal individual coefficient, population number and number of genetic evolution. Results showed that the performance indicators including the bearing capacity, dexterity, global dexterity, stiffness, global stiffness of 3CD/2RPU-SPR friction stir welding robot were all improved, and moving was continuous at the high-quality workspace considering dexterity and stiffness, illustrating 3CD/2RPU-SPR friction stir welding robot could withstand more upset forces compared with 2 RPU-SPR friction stir welding robot, the movement flexibility was improved.10 sets of structural parameters that met the global dexterity and global rigidity of the 3CD/2RPU-SPR friction stir welding robot were found by genetic algorithm. Under comprehensive consideration of the friction stir welding working conditions, the optimal set was selected as the structural parameter of friction stir welding robot. Working with this structure parameter, the robot performance indicators were improved, and it was more suitable for completing friction stir welding. The research provides a theoretical basis for improving the quality of robot friction stir welding.
Key words: friction stir welding    rigid-flexible cooperation    Jacobian matrix    performance index
收稿日期: 2019-10-16 出版日期: 2020-04-28
:  TP 242.3  
基金资助: 国家自然科学基金资助项目（51775165）
通讯作者: 侯红娟（1981—），女，河南商丘人，副教授，博士，从事机器人机构学及控制研究，E-mail: 2113512082@qq.com，https://orcid.org/0000-0001-7765-8992   
作者简介: 张俊宝（1994—）， 男，河北廊坊人，硕士生，从事机器人机构学研究，E-mail:1134787899@qq.com，https://orcid.org/0000-0003-3640-5782
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引用本文:

张俊宝, 侯红娟, 刘健, 孙丁丁, 解磊磊. 刚柔协作3CD/2RPU-SPR搅拌摩擦焊机器人研究[J]. 工程设计学报, 2020, 27(2): 172-181.

ZHANG Jun-bao, HOU Hong-juan, LIU Jian, SUN Ding-ding, XIE Lei-lei. Research on rigid-flexible 3CD/2RPU-SPR friction stir welding robot. Chinese Journal of Engineering Design, 2020, 27(2): 172-181.

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https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2020.00.026    或    https://www.zjujournals.com/gcsjxb/CN/Y2020/V27/I2/172

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