基于柔性多体动力学的机械臂结构优化设计

中国机械工程

基于柔性多体动力学的机械臂结构优化设计

梁明轩1,2,3;李正刚2;唐任仲1;陈立2;黄川2

1.浙江大学机械工程学院, 杭州，310027
2.杭州新松机器人自动化有限公司, 杭州，310000
3. 中国计量大学机电工程学院, 杭州，310018

出版日期:2017-11-10 发布日期:2017-11-07
基金资助:
国家自然科学基金资助项目(51705494)；
浙江省自然科学基金资助项目(LQ17E050005)
National Natural Science Foundation of China （No. 51705494）
Zhejiang Provincial Natural Science Foundation of China （No. LQ17E050005）

Structure Optimization Design of Robot Arm Based on Flexible Multi-body Dynamics

LIANG Mingxuan1,2,3;LI Zhenggang2;TANG Renzhong1;CHEN Li2;HUANG Chuan2

1.College of Mechanical Engineering, Zhejiang University, Hangzhou，310027
2.Hangzhou Siasun Robot Automation Co., Ltd., Hangzhou，310000
3.College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou,310018

Online:2017-11-10 Published:2017-11-07
Supported by:
National Natural Science Foundation of China （No. 51705494）
Zhejiang Provincial Natural Science Foundation of China （No. LQ17E050005）

摘要/Abstract

摘要： 针对柔性关节对工业机器人动力学特性的影响，基于“转子-扭簧”模型和有限元法，研究关节刚度对机械臂固有动力学特性的影响规律；考虑臂杆柔性和关节柔性，建立了机械臂多柔体动力学有限元模型，以机械臂轻量化为设计目标，以末端总位移量为约束条件对机械臂结构进行优化。研究结果表明，不同关节刚度对机械臂各阶固有频率的影响不同，优化后的机械臂载重/自重比增大，刚度和强度均得到提高，整体动力学性能明显提高。

关键词: 机械臂, 关节刚度, 柔性多体动力学, 拓扑优化, 载重/自重比

Abstract: Aiming at the influences of the flexible joints on the dynamics of industrial robots, the effect laws of the joint stiffness on the natural dynamics characteristics of the robot arm were investigated based on the rotor-torsional spring model and the finite element method. A flexible multi-body dynamics model of robot arm was established by considering the flexible characteristics of the arms and the joints. The topology optimization on the robot arms was carried out by taking the lightweight as the design goal and the total displacement as the constraints. The results indicate that the tare-load ratio of the optimized robot arm increases, the stiffness and strength of the robot arm enhances, and the overall dynamics performance improves significantly.

Key words: robot arm, joint stiffness, flexible multi-body dynamics, topology optimization, tare-load ratio

中图分类号:

TK122

梁明轩1,2,3;李正刚2;唐任仲1;陈立2;黄川2. 基于柔性多体动力学的机械臂结构优化设计[J]. 中国机械工程.

LIANG Mingxuan1,2,3;LI Zhenggang2;TANG Renzhong1;CHEN Li2;HUANG Chuan2. Structure Optimization Design of Robot Arm Based on Flexible Multi-body Dynamics[J]. China Mechanical Engineering.

参考文献

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