一种圆柱物料装填机器人残余振动抑制方法

为提高载具内的物料装填效率，提出了一种在载具内受限空间中使用的新型圆柱物料装填机器人，并通过优化关节轨迹，对机器人末端残余振动进行抑制。首先，给出物料装填机器人的总体设计方案和工作流程。然后，结合物料装填机器人的结构特点，应用拉格朗日方法建立封闭形式的刚柔耦合动力学模型，并应用模态分析方法得到机器人末端动态响应计算方法。最后，以物料装填机器人关节残余弹性势能最小为优化目标，使用最大最小蚂蚁系统，对机器人关节轨迹进行优化，并对优化结果进行仿真验证。仿真结果表明，优化后的关节轨迹，在满足快速装填要求的基础上，可以降低约34.4%的关节残余弹性势能和约37.6%的机器人末端振动振幅。 

Residual vibration suppression method of a cylindrical material loading robot

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.