发布时间:2016/1/20 14:28:40 作者:李云江,焦成彬 【字体:
大 中 小】
李云江,焦成彬
(山东建筑大学 机电工程学院,山东 济南 250101)
摘要:基于按摩机器人捏拿机构的运动特点,运用复合形法,以满足机构运动要求和结构紧凑为优化目标,建立了机器人捏拿机构的数学模型,采用编写的复合形法程序,对捏拿机构进行了优化,获得了机构设计变量的最优解。把优化结果应用到按摩机器人设计中,验证了该优化设计能满足设计要求。
关键词:按摩机器人;捏拿结构;优化设计
中图分类号:TP242.3 文献标志码:A doi:10.3969/j.issn.1006-0316.2016.01.010
文章编号:1006-0316 (2016) 01-0040-04
Take knead mechanics optimal design of massage robot
LI Yunjiang,JIAO Chengbin
( School of Mechanical and Electronic Engineering, Shandong Jianzhu University, Ji'nan 250101, China)
Abstract:In view of movement characteristic of the take knead mechanism, the mathematical model is established, with compact structure, and meeting and the requirement of the trajectory as optimization objective. The take knead mechanism is optimized by using complex method. The optimal solutions of design variables are obtained. The optimization results are applied to the design of the massage robot, It can meet the design requirements.
Key words:massage robot;take knead;optimal design
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收稿日期:2015-07-24
基金项目:国家863计划项目(2008AA040206)
作者简介:李云江(1966-),男,山东莱阳人,硕士,教授,主要从事特种机器人和建筑机械的研究工作。