Unified design method for lightweight mechanical arm

Abstract

The invention discloses a unified design method for a lightweight mechanical arm. The structure optimization of the mechanical arm is carried out in finite element to obtain new structure parameters; an optimization result is applied to the design of a driving system; dynamic analysis of the driving system in ADAMS is finished; joint parameters are updated; an updating result is fed back to a structure design module to further optimize structure parameters; and the process is repeatedly carried out until design requirements are met. According to the design method, a relationship between the structure design module and a driving system module is established in the optimization process, so that components of the mechanical arm are controlled globally, an optimal result is sought, and the lightweight of the mechanical arm is realized; and the design method is high in accuracy and good in optimization effect.

Description

technical field [0001] The invention relates to the field of robots, in particular to a unified design method for a lightweight mechanical arm. Background technique [0002] Most existing robotic arms have obvious disadvantages: small load-to-weight ratio, bulky structure, high power consumption, etc. In high-performance and special tasks, lightweight robotic arms are required, such as space manipulation. In order to solve the above problems, many researchers have introduced the lightweight design of the manipulator, which is a complex system including drive system design, structural design, dynamic control, etc. [0003] The drive system accounts for a large proportion of the mass distribution of the manipulator, so some researchers have lightweighted the motors and gears that make up the drive system to reduce the weight of the manipulator. However, these studies only start from the drive system. The structure of the manipulator is not considered. Other studies start fr...

AI Technical Summary

Problems solved by technology

[0002] Most existing robotic arms have obvious disadvantages: small load-to-weight ratio, bulky structure, high power consumption, etc.

However, only starting from a single point of view such as the drive system or topology structure, ignoring the interaction between the drive system and the structure, often cannot make the optimization of the manipulator reach the optimal effect.

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