基于力矩密度曲线的轻型机械臂的统一优化方法

Optimization Method for Lightweight Design of Robot Manipulators Based on Torque Density Curves

针对机械臂的轻量化设计问题,基于驱动系统的力矩密度曲线,提出了一种统一优化方法。该方法将结构尺寸和驱动系统参数作为设计变量,设计目标是减少机械臂的总体质量并满足约束条件和设计标准。通过采用力矩密度曲线和结构动力学,建立了一种统一的描述来统一评估机械臂的所有部件质量。运用ANSYS软件进行结构和运动学分析。进而,在ADMAS中进行动力学分析以获得所需要的驱动系统的力矩,同时,驱动系统的质量和惯量采用力矩密度曲线来评估。最后,一个设计案例和实验样机被用来验证所提出的方法的可行性。

Addressing the challenge of lightweight design for robot manipulators,a unified optimization method rooted in the torque density curve of the drivetrain is presented.In this method,the structural dimensions and drivetrain parameters serve as design variables,with the primary objective being the reduction of the manipulator′s overall mass while conforming to constraints and design standards.Through the implementation of torque density curves and structural dynamics,a unified descriptor is established to consistently assess the weight of the manipulator′s individual components.The ANSYS software platform facilitates both the structural and kinematic analysis.Additionally,dynamic evaluations are conducted in ADMAS to deduce the essential torque for the drivetrain,and the drivetrain′s weight and inertia are ascertained utilizing the torque density curve.In conclusion,both a design instance and an experimental prototype are employed to corroborate the efficacy of the proposed method.