Abstract:

In order to meet the basic demands of manipulator, this paper created a method of lightweight design of a manipulator of 6 DOF in a serial elderly serve robot. A series of dynamics equations were built according to the Newton-Euler method. After the results of the dynamics analysis were got, based on the results, the property driving system of the manipulator was chosen including the DC servo motors and the reducers. Then the manipulator's model was built, and the statics and dynamics simulation were also made by the virtual prototyping technology. 

Key words: virtual prototyping, dynamics analysis, light weight, statics simulation, dynamics simulation

摘要：

针对老人服务机器人机械臂的功能要求，提出了一种老人服务机器人的串联型六关节机械臂轻量化的设计方法。建立了机械臂的牛顿-欧拉动力学方程，并利用动力学方程的分析结果，选择了机械臂的直流伺服电机和减速系统等部件。在虚拟样机的基础上对机械臂进行了轻量化设计，包括利用CAD软件设计机械臂机构，利用CAE仿真软件对机械臂进行了静力学和动力学仿真，校验分析结果，选择能够实现机械臂轻量化的机械臂构架的材料，优化构架的结构。

关键词: 虚拟样机, 动力学分析, 轻量化, 静力学仿真, 动力学仿真