• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 1995, Vol. 31 ›› Issue (5): 64-70.

• 论文 • 上一篇    下一篇

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机器人弹性动力学研究及结构综合优化

曹彤;孙杏初   

  1. 北京航空航天大学
  • 发布日期:1995-09-01

ELASTO-DYNAMIC RESEARCH OF ROBOT AND SYNTHETICAL OPTIMIZATION FOR MECHANISM PARAMETER'S

Cao Tong;Suen Xingcu   

  1. Beijing University of Aeronautics and Astronautics
  • Published:1995-09-01

摘要： 在运动学分析的基础上郑重考虑各种驱动系统和平衡系统的弹性影响，对机器人系统进行有限元弹性动力学建模分析，求出整个系统的振动频率及手部末端弹性变形，并在此基础上对臂杆结构进行综合优化，使得机器人系统的各种动力性能指标达到良好。编制了相应的通用性软件，并通过实例验证了该法的有效性，为机器人设计提供了有效的方法。

关键词: 弹性动力学, 机器人, 有限元, 综合优化

Abstract: The elastic effect of the driving system and the balance system of robot are emphatically considered, based on kinematic analysis. Elasto-dynamic moder of robot system are set up and analyzed by finite element method. To solve the vibration frequency and the elasto-displacement of all the system. In case of meeting all the performance figure, arm’s mechanism is synthetically optimized. Corresponding software is worked out. Illustraction of calculation shows that the process provides efficient method for robot design.

Key words: Elasto-dynamics, Finite element, Robot, Synthetical Optimization

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