Delta机器人结构参数的动态设计方法研究

Study on Dynamic Design Method of Delta Robot Structural Parameters

随着高速Delta并联机器人对能耗和动态性能要求的不断提高,研究一种以不同参数模型为主导,揭示尺度和结构参数耦合影响规律的参数优化设计方法成为当务之急。针对以上问题,在确定优化设计变量的基础上,利用工程实例研究单轴最大力矩和固有频率/质量比两种可用于动态设计的评价指标及约束条件,进而提出一种针对机器人结构参数的动态设计方法,并综合出一组满足动态特性要求的最优结构参数。

With the Delta parallel robot increasing demands of energy consumption and dynamic performance, it is an urgent task to study a kind of parameter optimization design method with different parameters, revealing the influence law of coupling of scale and structure parameters. In view of the above problem, the study is based on the optimization design variables, based on the engineering example, two kinds of evaluation indexes for the dynamic design and constrains about single axis maximum torque and natural frequency/ mass are studied, then a dynamic design method for robot structure parameters is proposed, and a set of optimal structure parameters to meet the requirements of dynamic characteristics.