Lightweight design method for arm structure of assembly robot

A lightweight design, robot arm technology, applied in the field of robotics, can solve the problems of harsh load conditions, not considering the influence of the optimal design of the inertial load structure, and not giving the load acquisition method, so as to improve the movement speed and improve the assembly efficiency. , the effect of reducing weight

Inactive Publication Date: 2015-12-23
SHANGHAI RADIO EQUIP RES INST
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Problems solved by technology

[0004] At present, for the lightweight design method of moving parts, for example, the application number 201010592534.X "PCB CNC drilling and milling machine parts weight reduction optimization design method", which uses the structural topology optimization method to define the variable threshold of topology optimization, topology optimization objectives, Design response constraints, geometric constraints, size constraints, process manufacturing constraints, topology optimization frozen region constraints, etc., get th

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  • Lightweight design method for arm structure of assembly robot
  • Lightweight design method for arm structure of assembly robot
  • Lightweight design method for arm structure of assembly robot

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Embodiment Construction

[0044] The present invention will be further elaborated below by describing a preferred specific embodiment in detail in conjunction with the accompanying drawings.

[0045] A lightweight design method for the arm structure of an assembled robot, which combines multi-body dynamics simulation with finite element simulation to obtain the load case with the largest stress in the arm's motion cycle, and performs topology optimization of the structure based on this load case Design, get the lightest design of the arm structure.

[0046] Such as figure 2 As shown, the robot includes a large arm 2, a small arm 3 and other parts, and the other parts include a base 1, a screw 4, and a main shaft 5, and the base 1 is fixed on the ground to drive the large arm. The motor and harmonic reducer for arm 2 rotation are fixed on the base 1, the motor and harmonic reducer for driving arm 3 to rotate are fixed on arm 3, and the lead screw is realized by the rotation of the motor installed on a...

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Abstract

A lightweight design method for an arm structure of an assembly robot comprises combining simulation of many-body dynamics and simulation of finite elements to obtain the maximal load condition of stress during a period of motion of an arm, and designing the load condition through topological optimization on a structure to obtain the maximal lightweight design of an arm structure. The lightweight design method for an arm structure of an assembly robot is advantageous in that the load obtained by simulation of many-body dynamics is used as the load of a structural optimal design, so as to raise the accuracy of the structural optimal design; and the speed of motion of an assembly robot can be raised by lightening weights of a large arm a small arm of the assembly robot, so as to raise the assembling efficiency. The arm structure design obtained by the method is high in accuracy and good in optimization.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a lightweight design method for assembling robot arm structures. Background technique [0002] Rapidity and cost are important performance parameters affecting the assembly robot. The weight of the arm structure of the assembly robot has a very important impact on the rapidity, precision and cost of the assembly robot. The greater the weight of the arm structure, the lower the speed of the robot under the same driving capacity, and the greater the driving capacity required under the same speed requirement, it is necessary to choose a motor with a higher output power and a reducer with a higher load capacity , resulting in an increase in cost, weight, volume and energy consumption; [0003] Such as figure 1 An assembly robot is shown, which includes: a base 1 fixed on the ground, a boom 2, a small arm 3, a screw 4 and a main shaft 5, and a motor and a harmonic reducer for driving...

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Application Information

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IPC IPC(8): G06F17/50
Inventor 倪修华朱琳袁静周郁周起华魏颖
Owner SHANGHAI RADIO EQUIP RES INST
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