Multi-Objective Optimization of Structural Dynamics of Robot Airbag Polishing Tools Based on NSGA-Ⅲ
In order to improve the machining quality of the robot,aiming at the problem of the insufficient dynamic stiffness of the end-effector,the optimization of the structure dynamics of the robot airbag polishing tool was carried out.The finite element simulation modal analysis and experimental modal analysis were conducted independently to validate the simulation results,finding out the vulnerable structure of the polishing tool prone to vibration.Using modal analysis,the vibration response acceleration of the vulnerable structure was determined through harmonic excitation.A dynamic approximate model was established,and with the objectives of improving fundamental frequency,reducing mass and acceleration response,multi-objective optimization of vulnerable structure was carried out using NSGA-Ⅲ(non-dominated sorting genetic algorithm-Ⅲ)and MOPSO(multi-objective particle swarm optimization)respectively,to obtain the optimal dynamic response parameter combinations.The results show that NSGA-Ⅲ has a better optimization effect,the fundamental frequency is increased by 21.62%,the maximum acceleration response of the four vulnerable structures is reduced by 73.78%,69.06%,56.15%and 28.28%,respectively,and the mass is reduced by 3.32%,which effectively improves the dynamic characteristics of polishing tool.
robotair bag polishingstructural dynamicsNSGA-Ⅲ(Non-dominated Sorting Genetic Algorithm-Ⅲ)approximate modelharmonic excitation
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