一种圆柱物料装填机器人残余振动抑制方法

In order to improve the material loading efficiency in vehicles, this paper proposes a new cylindrical material loading robot used in confined space. The residual vibration of the end-effector has been suppressed by optimizing the joint trajectory. Firstly, the overall design scheme and work flow of the material loading robot are given. Then, combined with the structural characteristics of material loading robot, a closed-form rigid-flexible coupling dynamic model is established according to Lagrange method. The calculation method of end-effector's dynamic response is obtained by modal analysis method. Finally, taking the minimization of the sum of the robot joints' residual elastic potential energy as the optimization target, max-min ant system was taken to optimize the trajectory of the robot joint. The optimization results were verified by simulation. Simulation results show that the optimized joint trajectory can reduce about 34.4% of the joint residual elastic potential energy and about 37.6% of vibration amplitude of the end-effector, while satisfying the demand for fast loading.