多杆柔性机器人杆与关节耦合效应及优化设计

基金项目:

北京市科委及国家教委资助项目

详细信息

Coupling Character and Optimal Design of Multi-link Robot Manipulators with Flexible Joints and Links

1. Department of Mechanical Engineering, Beijing Polytechnic University, 100022;
2. Department of Basic Science, Beijing Polytechnic University, 100022

摘要: 在以有限元法建立的系统动力学模型基础上,对多杆机器人的柔性关节和柔性杆的动态耦合效应进行研究,发现耦合效应存在关于系统无量纲参数的有利的软耦合和不利的硬耦合,从而提出将机器人的结构参数限定在有利耦合区域内进行以整体质量最小为目标的优化方法,达到了充分利用材料的目的.
- 多杆机器人 /
- 柔性关节 /
- 柔性杆 /
- 耦合效应 /
- 优化设计
Abstract: Coupling character of the joint and link flexibility is studied based on the finite element model of the dynamic system. It is found that the advantageous the soft and disadvantageous rigid coupling regions in terms of the two ratios of the system. Thus an optimizing method for minimzing the total mass on the robot with flexible joints and links is presented by restricting the structure parameters in the advantage coupling region, to make good use of the advantageous coupling and material.
- multi-link robot /
- flexible joint /
- flexible link /
- coupling character /
- optimal design