机器人手臂结构的力学特性分析及其优化

The Study of the Structure on the Robot Manipulatir

本研究采用高精度的数学分析方法，对机器人手臂进行动、静特性分析．在此基础上建立机器人手臂优化设计的目标函数．并采取迭代重分析次数最少、搜索最快、效率最高的优化方法，对机器人手臂进行最优设计．通过对典型手臂的设计计算，验证了该方法的正确性和实用性．其设计结果既提高了机器人手臂的刚度，又减轻了重量，达到了预期目的．

The structure optimianion of the manipulator is to explore optimum structure parameters under a certain condition of static performance restraint. It takes a plenty of time to compute repeatedly the static performance functions. For this purpose, we put forward the optimization method with seeking rapidly, i. e.the optimization criterion method. In addition, we found the optimal mathematical model of the manipulator. The experiment shows that calculational results are coincident with experimental results, the rigidity of manipulator is increased, and the weight is reduced. Therefore, this study has great engineering significance.