摘要
工业机器人的手部是最重要的执行机构,手部笨重会导致其动态性能下降,因此其手部轻量化是提高机器人性能的重要手段之一。文中将单关节式机器人手部连杆的质量作为目标函数,通过分析其应力约束及几何约束条件,建立手部连杆质量的最优化模型,并通过Matlab求取了最优解。优化结果表明,连杆的质量较小,负载质量与连杆质量的比值较大,可使机器人手部轻量化,并提高手部灵活性和材料利用率。
The industrial robot hand is the most important implementing structure,bulky robot hand will lead to a declined dynamic performance,and therefore reducing the weight of the hand is an important measure to improve robot dynamic performance. In this paper,the mass function of single-joint robot hand＇s linkage was selected as the objective function. By analyzing the stress constraints and geometric constraints,the mass optimization function of linkage was built and subsequently solved by Matlab software. The results show that the mass of the linkage is smaller,and the ratio of load and linkage mass is larger. Thus,the partial weight of the robot hand can be reduced. Meanwhile,the dexterity and material utilization of the linkage are improved.
出处
《机械设计》
CSCD
北大核心
2014年第5期15-17,共3页
Journal of Machine Design
基金
中央高校基本科研业务费专项资金资助项目(11CX04036A)
青岛市科技发展计划资助项目(12-1-4-7-(8)-jch)
大学生创新创业训练计划资助项目(111042531)
