Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production efficiency.In order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed i...Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production efficiency.In order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed in this paper,which consists of parallel four-bar mechanisms.The Jacobian matrix referring to the mapping matrix from the joint velocity to the operating space velocity of the transfer robot can be solved by the differential-vector method.The mean value of the Jacobian matrix condition number in the workspace is used as the global performance index of the robot velocity and the optimization goal.The constraint condition is established based on the actual working condition.Then the linkage length optimization is carried out to decrease the length of the linkage and to increase the global performance index of velocity.The total length of robot rods is reduced by 6.12%.The global performance index of velocity is improved by 45.15%.Taking the optimized rod length as the mechanism parameter,the distribution of the motion space of the transfer robot is obtained.Finally,the results show that the proposed method for establishing the Jacobian matrix of the lower-mobility robot and for the optimization of the rods based on the velocity global performance index is accurate and effective.The workspace distribution of the robot meets the design requirements.展开更多
基金supported by the National Key R&D Program of China(No.2018YFB1307900)the Natural Science Foundation of Shanxi Province(Nos.201901D211009,201901D211010)the Technology In⁃novation Foundation of Shanxi University(No.2019L 0177).
文摘Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production efficiency.In order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed in this paper,which consists of parallel four-bar mechanisms.The Jacobian matrix referring to the mapping matrix from the joint velocity to the operating space velocity of the transfer robot can be solved by the differential-vector method.The mean value of the Jacobian matrix condition number in the workspace is used as the global performance index of the robot velocity and the optimization goal.The constraint condition is established based on the actual working condition.Then the linkage length optimization is carried out to decrease the length of the linkage and to increase the global performance index of velocity.The total length of robot rods is reduced by 6.12%.The global performance index of velocity is improved by 45.15%.Taking the optimized rod length as the mechanism parameter,the distribution of the motion space of the transfer robot is obtained.Finally,the results show that the proposed method for establishing the Jacobian matrix of the lower-mobility robot and for the optimization of the rods based on the velocity global performance index is accurate and effective.The workspace distribution of the robot meets the design requirements.
文摘基于能量的设计方法被广泛应用于结构抗震设计与性能评估,而确定结构能量耗散需求是设计过程中需解决的首要问题。目前针对近断层脉冲型地震动能量谱特征的研究仍然不够充分,很可能低估其对结构的破坏作用。为此,从PEER(Pacific Earthquake Engineering Research Center)强震数据库中选取了789条近断层地震动作为输入,并从中识别出192条脉冲型地震动,重点分析了近断层脉冲型地震动与无脉冲地震动的能量谱差异,研究了地震动特征参数及恢复力模型参数对能量谱的影响,并建立了考虑脉冲效应的近断层地震动实用设计能量谱。结果表明:(1)场地越软,近断层地震动能量谱谱值越大,且各类场地下脉冲型地震动能量谱平均谱的谱值明显大于无脉冲地震动;(2)阻尼比ξ增大对输入能量谱具有削峰作用,并减缓其长周期段的衰减速度,延性比μ增大会提高输入能量谱及阻尼耗能谱峰值,并降低滞回耗能谱峰值,屈服后刚度比α对能量谱影响较小,可近似忽略其影响;(3)脉冲型地震动的输入能量设计谱平台段长度远大于无脉冲地震动,所建立的设计能量谱可为近断层区域基于能量的抗震设计提供参考。
