农业机械学报2024，Vol.55Issue(7)：449-458,10.DOI:10.6041/j.issn.1000-1298.2024.07.044
考虑连杆和关节柔性的工业机器人大臂静动态性能优化
Optimization of Static and Dynamic Performance of Industrial Robot Forearm Considering Flexibility
摘要
Abstract
With the development of automation technology,industrial robots are widely used in various fields,in order to improve the overall performance of industrial robots and reduce their static and dynamic performance errors,a topology optimization method that integrally took into account the flexibilities of connecting rods and joints of industrial robots was proposed.Combining robot dynamics and topology optimization,the multi-objective topology optimization function model of industrial robot forearm was established by linear weighted sum method based on the solid isotropic material with penalization(SIMP),based on the theory of flexible multi-body dynamics,the simulation model of robot rigid-flexible coupling dynamics with joints flexibilities and connecting rods flexibilities was established by using the finite element software and multi-body dynamics software,and the load spectra of the robot forearm was obtained in the extreme working conditions.Finally,the weight coefficients of each sub-objective in the optimization objective function were determined by using hierarchical analysis and the function was solved.The optimization result showed that the stiffnesses and natural frequencies of the optimized robot forearm were improved,the robot forearm was lightened by 18.71%from 20.233 kg to 16.477 kg.The robot model was reconstructed by virtual prototype technology and its whole was analyzed,and the result showed that the maximum deformation displacement of the robot was decreased from 0.208 mm to 0.188 mm under the the maximum load,and the static deformation error was reduced by 9.62%,the dynamic localization error was decreased from 0.777 mm to 0.687 mm,and the localization accuracy was improved by 11.58%.The above topology optimization method provided an effective theoretical reference for improving the overall static-dynamic performance of industrial robots.关键词
工业机器人/静动态性能/拓扑优化/刚柔耦合动力学/层次分析法/定位精度Key words
industrial robot/static and dynamic performance/topology optimization/rigid-flexible coupling dynamics/hierarchical analysis/positioning accuracy分类
机械工程引用本文复制引用
肖正明,段俊杰,周川,余世科,伍星..考虑连杆和关节柔性的工业机器人大臂静动态性能优化[J].农业机械学报,2024,55(7):449-458,10.基金项目
国家自然科学基金项目(51965025)、云南省重点研发计划——国际科技合作专项(202003AF140007)和云南省基础研究计划面上项目(202201AT070103) （51965025）
