工程设计学报2025，Vol.32Issue(3)：383-392,10.DOI:10.3785/j.issn.1006-754X.2025.04.178
工业机器人线缆动态特性建模与布局优化
Dynamic characteristic modeling and layout optimization of industrial robot cables
摘要
Abstract
The deformation characteristics of industrial robot cables are one of the main factors influencing the service lifespan of cables.In order to describe the movement pattern of the cables and mitigate the impact of cable routing on the lifespan of cables,a flexible cable modeling method based on the spring-damper chain equivalent was proposed.The cable was divided through linear springs,linear dampers,torsional springs and torsional dampers,achieving the dynamics description of its particles.And based on the Newton method,the force analysis was conducted for each particle.The cable movement process was discretized into a collection of movements in multiple tiny time intervals.The dynamics parameters at the current moment were obtained through dynamics analysis.After a movement in a tiny time interval,the position of each particle at the next moment could be derived.By iterating the above steps,the dynamic pattern of the cable could be simulated,and the movement simulation of the cable at the joint of industrial robot was realized.Subsequently,the optimal parameters of the cable dynamics model were determined through experiments,and the simulated pattern of dynamics model after parameters optimization was compared with the actual movement pattern of industrial robot cable to validate the accuracy of the dynamics model.Finally,an optimization scheme for the cable layout of industrial robot was obtained,with the objective of minimizing the maximum stress on cable model.The research results provide a theoretical basis for improving the service lifespan of industrial robot cables.关键词
工业机器人线缆/动力学建模/参数识别/运动仿真/布局优化Key words
industrial robot cable/dynamics modeling/parameter identification/movement simulation/layout optimization分类
机械工程引用本文复制引用
李翔,陶友瑞,王嘉,张扬,杨铖浩..工业机器人线缆动态特性建模与布局优化[J].工程设计学报,2025,32(3):383-392,10.基金项目
国家自然科学基金资助项目(52075146) （52075146）
河北省自然科学基金资助项目(E2023202135) （E2023202135）
河北省高等学校科学研究项目(BJ2025125) （BJ2025125）
河北省科技项目(23281805Z) （23281805Z）
石家庄市科技项目(SJZZXC23008) （SJZZXC23008）
