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Parallel mechanism configuration optimization method of round steel end surface labeling serial-parallel robot

A labeling, hybrid and robotic technology, applied in instruments, systems based on fuzzy logic, special data processing applications, etc., can solve problems affecting the production efficiency of steel mills that affect automatic labeling effects, optimize labeling fitness, and improve practicality. sexual effect

Inactive Publication Date: 2018-01-09
HEBEI UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology

The choice of the parallel mechanism configuration of the hybrid robot not only determines the working performance of the labeling hybrid robot, but also affects the effect of automatic labeling and the production efficiency of the steel plant

Method used

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  • Parallel mechanism configuration optimization method of round steel end surface labeling serial-parallel robot
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  • Parallel mechanism configuration optimization method of round steel end surface labeling serial-parallel robot

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Embodiment Construction

[0013] combined with figure 1 The present invention is described in detail.

[0014] The optimal method for the configuration of the parallel mechanism of the round steel end labeling hybrid robot includes the following steps:

[0015] The first step is to determine the motion output of the labeling hybrid robot and the motion output of the parallel mechanism by analyzing the labeling process of the round steel end face, and determine the alternatives according to the motion output of the parallel mechanism. Based on all the alternatives, establish Fuzzy comprehensive evaluation decision set, using V means that , where, v i for the first i alternatives, m is the number of alternatives;

[0016] The second step is to establish a fuzzy comprehensive evaluation factor set with various factors that affect the evaluation object (that is, each selected plan) as elements, and use X means that , where, x i In order to affect the first i factors, n is the number of infl...

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Abstract

The invention relates to a parallel mechanism configuration optimization method of a round steel end surface labeling serial-parallel robot, and belongs to the technical field of labeling in the metallurgical industry. According to the technical scheme, a fuzzy comprehensive evaluation decision set is built; a fuzzy comprehensive evaluation factor set is built; an index weight set is determined; acomprehensive evaluation matrix is determined; the index weight set and the comprehensive evaluation matrix are multiplied by a fuzzy operator to obtain a sequencing result, and parallel mechanism configuration optimization of the labeling serial-parallel robot is carried out. The weights of all evaluation indexes and the comprehensive evaluation matrix are calculated through the AHP, sequencingof parallel mechanism configuration is achieved through a fuzzy algorithm, and parallel mechanism configuration optimization is completed. According to the method, the parallel mechanism configurationof the round steel end surface labeling serial-parallel robot is effectively optimized, the labeling adaptability of the round steel end surface labeling serial-parallel robot is optimized, and the practicability of a round steel end surface labeling mechanism is improved.

Description

technical field [0001] The invention relates to an optimal method for the configuration of a parallel mechanism of a hybrid robot for labeling round steel end faces, and belongs to the technical field of labeling in the metallurgical industry. Background technique [0002] At present, the work of labeling round steel end faces in iron and steel plants mainly relies on manual work. In some iron and steel enterprises, automatic labeling systems are gradually being adopted to realize automatic labeling of round steel end faces by robots. For example: in Chinese patent numbers CN2016202585353 and CN201610193686X, a robot automatic labeling system applied to round steel end face labeling is proposed. In the system, the labeling robot adopts a series robot, which has the disadvantages of slow speed and large cumulative error at the end of the mechanism. Parallel robots cannot achieve pitching motion during labeling work and their working space is relatively small. Using a hybrid ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50G06N7/02
Inventor 张付祥刘再黄永建黄风山
Owner HEBEI UNIVERSITY OF SCIENCE AND TECHNOLOGY
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