中国机械工程2017，Vol.28Issue(21)：2562-2566,5.DOI:10.3969/j.issn.1004-132X.2017.21.008
基于柔性多体动力学的机械臂结构优化设计
Structure Optimization Design of Robot Arm Based on Flexible Multi-body Dynamics
摘要
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.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Key words
robot arm/joint stiffness/flexible multi-body dynamics/topology optimization/tare-load ratio分类
能源科技引用本文复制引用
梁明轩,李正刚,唐任仲,陈立,黄川..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,2017,28(21):2562-2566,5.基金项目
国家自然科学基金资助项目(51705494) （51705494）
浙江省自然科学基金资助项目(LQ17E050005) （LQ17E050005）
