Serial robot structural design optimization method

Abstract

A serial robot structural design optimization method includes: dividing a robot structure into a plurality of modules according to number of degrees of freedom and a transmission structure; primarily designing each module, namely primarily determining the shape, thickness and transmission mode of each module; subjecting the primarily designed robot to finite-element analysis; structurally optimizing according to the requirements on the strength, rigidity and natural frequency of the robot; judging whether each module of the robot structure meets the rigidity requirement or not, if yes, continuing; and if not, redesigning; integrally simplifying the robot before modal analysis; and analyzing the formation and frequency, redesigning if the requirements on the frequency and formation are not met; and otherwise, completing the design. The traditional empirical method and pure strength check method are replaced by finite-element analysis and modal analysis of the robot structure, analysis accuracy is greatly improved, and by means of finite-element analysis and modal analysis of the robot structure, the requirements of robot strength and rigidity are met with minimum consumption of raw materials and cost.

Description

technical field [0001] The invention relates to a robot structure design. In particular, it relates to a structural design optimization method of a serial robot using finite element and modal analysis of the robot structure. Background technique [0002] In recent years, due to rising labor costs, many companies are seeking to use industrial robots to replace labor. At the same time, many industries where humans cannot complete work and industries with high risks require robots to replace labor. The structure of the robot will not only affect the kinematics and dynamics characteristics of the robot, but also affect the control characteristics of the robot. Therefore, the structural design and optimization of the robot are particularly important. The goal of structural optimization is nothing more than using The lowest cost to meet the design requirements. Due to the harsh and complex working environment of industrial robots, the impact of vibration and noise cannot be igno...

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Problems solved by technology

[0004] 1. The traditional method of material mechanics analysis is used to optimize the model by simplifying the model and relying on empirical formulas. Although this method has been proved to be reliable in practice, it sometimes ignores many important conditions in reality and cannot fully reflect the stress state.

[0005] 2. With the help of the optimization algorithm, establish the objective function, set the constraint conditions, and generate the optimal solution set through the calculation of the algorithm. This method is mostly the theoretical optimal solution, which is often difficult to achieve in reality

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