Mechanical arm structure performance evaluation method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a mechanical arm structure performance evaluation method and device, electronic equipment and a storage medium, and relates to the mechanical arm analysis technology. According to the method, based on the model and the reduction ratio of a speed reducer used by a wrist assembly of a to-be-evaluated mechanical arm, a structural model of the wrist assembly is constructed in finite element software; defining a plurality of first basic working conditions in finite element software according to the positions of the speed reducers of the components of the mechanical arm to be evaluated; and performing simulation analysis in finite element software by utilizing the structural model of the wrist assembly and each first basic working condition to obtain a simulation analysis result of the wrist assembly so as to evaluate the structural performance of the wrist assembly of the mechanical arm to be evaluated, so that the structure of the mechanical arm can be accurately evaluated in a design stage, and the reliability of the mechanical arm is improved. The research and development period is prolonged; and the cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arm analysis, and in particular to a method, device, electronic equipment and storage medium for evaluating the structural performance of a robot arm. Background Art

[0002] The robotic arm is a key component in industrial robots and is widely used in industrial production and automation tasks. The design of the robotic arm needs to consider its strength and stiffness to ensure that it will not be damaged or fail during operation. The traditional method is usually to measure its stiffness and strength by applying load to the robotic arm after the physical prototype is completed. However, this method has many disadvantages, such as the inability to accurately evaluate it during the design phase, which leads to longer R&D cycles and increased costs. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a method, device, electronic device and computer-readable storage medium for evaluating the structural performance of a robotic arm.

[0004] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0005] In a first aspect, the present invention provides a method for evaluating the structural performance of a mechanical arm, which is applied to an electronic device on which finite element software is deployed, and the method comprises:

[0006] Based on the model and reduction ratio of the reducer used in the wrist assembly of the robot arm to be evaluated, construct a structural model of the wrist assembly in the finite element software;

[0007] According to the reducer positions of the components of the robot arm to be evaluated, a plurality of first basic working conditions are defined in the finite element software;

[0008] Using the structural model of the wrist assembly and each of the first basic working conditions, simulation analysis is performed in the finite element software to obtain simulation analysis results of the wrist assembly to evaluate the structural performance of the wrist assembly of the robotic arm to be evaluated.

[0009] Optionally, the step of constructing a structural model of the wrist assembly of the robotic arm to be evaluated in the finite element software based on the model and reduction ratio of the reducer used by the wrist assembly of the robotic arm to be evaluated includes:

[0010] Importing the three-dimensional design model corresponding to the wrist assembly into the finite element software;

[0011] According to the model of the reducer used in the wrist assembly, the reducer stiffness value is obtained, and the reducer stiffness value is used to set a bushing unit in the finite element software, wherein the bushing unit is used to connect different parts of the reducer in the three-dimensional design model corresponding to the wrist assembly;

[0012] Using the reduction ratio of the reducer to process the material characteristic parameters of the synchronous belt and the motor shaft used in the wrist assembly;

[0013] In the finite element software, the processed material characteristic parameters of the synchronous belt and the motor shaft used by the wrist assembly are applied to the three-dimensional design model corresponding to the wrist assembly, and the three-dimensional design model corresponding to the wrist assembly is divided by finite element to obtain the finite element model corresponding to the wrist assembly;

[0014] The parts motion transfer relationship, load and boundary conditions of the wrist assembly are defined in the finite element software and applied to the finite element model corresponding to the wrist assembly to obtain the structural model of the wrist assembly.

[0015] Optionally, the step of performing simulation analysis in the finite element software using the structural model of the wrist assembly and each of the first basic working conditions to obtain the simulation analysis result of the wrist assembly includes:

[0016] In the finite element software, each of the first basic working conditions is applied to the structural model of the wrist assembly, and a simulation analysis is performed in combination with the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly to obtain a simulation analysis result of the wrist assembly under each basic working condition;

[0017] Combining each basic working condition corresponding to the wrist assembly to obtain at least one comprehensive working condition corresponding to the wrist assembly;

[0018] Each comprehensive working condition corresponding to the wrist assembly is applied to the structural model of the wrist assembly, and a simulation analysis is performed in combination with the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly to obtain the simulation analysis results of the wrist assembly under each comprehensive working condition.

[0019] Optionally, the robotic arm to be evaluated further includes a forearm assembly, and the method further includes:

[0020] Based on the model and reduction ratio of the reducer used by the forearm assembly, a structural model of the forearm assembly is constructed in the finite element software, and the structural model of the forearm assembly is assembled with the structural model of the wrist assembly to obtain a first structural model;

[0021] According to the reducer positions of the components of the robot arm to be evaluated and the simulation analysis results of the wrist assembly, a plurality of second basic working conditions are defined in the finite element software;

[0022] Using the first structural model and each of the second basic working conditions, a simulation analysis is performed in the finite element software to obtain a simulation analysis result of the forearm assembly to evaluate the structural performance of the forearm assembly of the robotic arm to be evaluated.

[0023] Optionally, the robotic arm to be evaluated further includes an elbow assembly, and the method further includes:

[0024] Based on the model and reduction ratio of the reducer used in the elbow assembly, a structural model of the elbow assembly is constructed in the finite element software, and the structural model of the elbow assembly is assembled with the first structural model to obtain a second structural model;

[0025] According to the reducer positions of the components of the robot arm to be evaluated, the simulation analysis results of the wrist assembly and the simulation analysis results of the forearm assembly, a plurality of third basic working conditions are defined in the finite element software;

[0026] Using the second structural model and each of the third basic working conditions, a simulation analysis is performed in the finite element software to obtain a simulation analysis result of the elbow assembly to evaluate the structural performance of the elbow assembly of the robotic arm to be evaluated.

[0027] Optionally, the robotic arm to be evaluated further includes a large arm assembly, and the method further includes:

[0028] Based on the model and reduction ratio of the reducer used by the boom assembly, a structural model of the boom assembly is constructed in the finite element software, and the structural model of the boom assembly is assembled with the second structural model to obtain a third structural model;

[0029] Defining a plurality of fourth basic working conditions in the finite element software according to the reducer positions of the components of the robot arm to be evaluated, the simulation analysis results of the wrist assembly, the simulation analysis results of the forearm assembly, and the simulation analysis results of the elbow assembly;

[0030] Using the third structural model and each of the fourth basic working conditions, simulation analysis is performed in the finite element software to obtain simulation analysis results of the boom assembly to evaluate the structural performance of the boom assembly of the robotic arm to be evaluated.

[0031] Optionally, the robot arm to be evaluated further includes a waist assembly, and the method further includes:

[0032] Based on the model and reduction ratio of the reducer used in the waist assembly, a structural model of the waist assembly is constructed in the finite element software, and the structural model of the waist assembly is assembled with the third structural model to obtain a fourth structural model;

[0033] According to the reducer positions of the components of the robot arm to be evaluated, the simulation analysis results of the wrist assembly, the simulation analysis results of the forearm assembly, the simulation analysis results of the elbow assembly, and the simulation analysis results of the boom assembly, a plurality of fifth basic working conditions are defined in the finite element software;

[0034] Using the fourth structural model and each of the fifth basic working conditions, simulation analysis is performed in the finite element software to obtain simulation analysis results of the waist assembly to evaluate the structural performance of the waist assembly of the robotic arm to be evaluated.

[0035] Optionally, the robot arm to be evaluated further includes a base assembly, and the method further includes:

[0036] Based on the model and reduction ratio of the reducer used by the base assembly, construct a structural model of the base assembly in the finite element software, and assemble the structural model of the base assembly with the fourth structural model to obtain a fifth structural model;

[0037] According to the reducer positions of the components of the robot arm to be evaluated, the simulation analysis results of the wrist assembly, the simulation analysis results of the forearm assembly, the simulation analysis results of the elbow assembly, the simulation analysis results of the upper arm assembly, and the simulation analysis structure of the waist assembly, a plurality of sixth basic working conditions are defined in the finite element software;

[0038] Using the fifth structural model and each of the sixth basic working conditions, simulation analysis is performed in the finite element software to obtain simulation analysis results of the base assembly to evaluate the structural performance of the base assembly of the robotic arm to be evaluated.

[0039] In a second aspect, the present invention provides a mechanical arm structure performance evaluation device, which is applied to an electronic device, on which finite element software is deployed, and the device comprises:

[0040] A construction module, for constructing a structural model of the wrist assembly of the robot arm to be evaluated in the finite element software based on the model and reduction ratio of the reducer used by the wrist assembly of the robot arm to be evaluated;

[0041] A processing module is used to define a plurality of first basic working conditions in the finite element software according to the reducer positions of the components of the robotic arm to be evaluated; and to perform simulation analysis in the finite element software using the structural model of the wrist assembly and each of the first basic working conditions to obtain simulation analysis results of the wrist assembly so as to evaluate the structural performance of the wrist assembly of the robotic arm to be evaluated.

[0042] In a third aspect, the present invention provides an electronic device comprising a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the robotic arm structure performance evaluation method described in the first aspect.

[0043] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method for evaluating the structural performance of a robotic arm as described in the first aspect above is implemented.

[0044] The method for evaluating the structural performance of a robotic arm provided in an embodiment of the present invention constructs a structural model of the wrist assembly in finite element software based on the model and reduction ratio of the reducer used in the wrist assembly of the robotic arm to be evaluated; defines multiple first basic working conditions in the finite element software according to the positions of the reducers of the various components of the robotic arm to be evaluated; and performs simulation analysis in the finite element software using the structural model of the wrist assembly and each first basic working condition to obtain simulation analysis results of the wrist assembly to evaluate the structural performance of the wrist assembly of the robotic arm to be evaluated, thereby enabling the structure of the robotic arm to be accurately evaluated in the design phase, thereby avoiding extension of the R&D cycle and reducing costs.

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 A schematic structural block diagram of an electronic device provided by an embodiment of the present invention is shown;

[0048] Figure 2 The schematic diagram shows a process of a method for evaluating the performance of a mechanical arm structure provided by an embodiment of the present invention. Figure 1 ;

[0049] Figure 3 The schematic diagram shows a process of a method for evaluating the performance of a mechanical arm structure provided by an embodiment of the present invention. Figure 2 ;

[0050] Figure 4 The schematic diagram shows a process of a method for evaluating the performance of a mechanical arm structure provided by an embodiment of the present invention. Figure 3 ;

[0051] Figure 5 The schematic diagram shows a process of a method for evaluating the performance of a mechanical arm structure provided by an embodiment of the present invention. Figure 4 ;

[0052] Figure 6 The schematic diagram shows a process of a method for evaluating the performance of a mechanical arm structure provided by an embodiment of the present invention. Figure 5 ;

[0053] Figure 7 The schematic diagram shows a process of a method for evaluating the performance of a mechanical arm structure provided by an embodiment of the present invention. Figure 6 ;

[0054] Figure 8 A functional unit block diagram of a mechanical arm structure performance evaluation device provided by an embodiment of the present invention is shown.

[0055] Icon: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication module; 200 - robotic arm structure performance evaluation device; 201 - construction module; 202 - processing module. DETAILED DESCRIPTION

[0056] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0057] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0058] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0059] Please refer to Figure 1 , is a block diagram of an electronic device 100. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120, and the communication module 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines.

[0060] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0061] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions.

[0062] The communication module 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through the network, and to send and receive data through the network.

[0063] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1Different configurations shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0064] In order to Figure 1 The method for evaluating the structural performance of the mechanical arm of the electronic device 100 shown will be described in detail below.

[0065] Please refer to Figure 2 The method for evaluating the structural performance of a robotic arm includes steps S101 to S103.

[0066] S101: Based on the model and reduction ratio of the reducer used in the wrist assembly of the robot arm to be evaluated, a structural model of the wrist assembly is constructed in finite element software.

[0067] Among them, finite element software is deployed on the electronic equipment, and the finite element software can be ANSYS, ABAQUS, SolidWorks Simulation, NASTRAN, etc.

[0068] In a possible implementation, step S101 may include sub-steps S101 - 1 to S101 - 5 .

[0069] S101-1, import the 3D design model corresponding to the wrist assembly into the finite element software.

[0070] The three-dimensional design model corresponding to the wrist assembly is generated by computer-aided design software (such as AutoCAD), and the format of the three-dimensional design model corresponding to the wrist assembly is compatible with finite element software.

[0071] After the 3D design model corresponding to the wrist assembly is imported into the finite element software, it needs to be checked and simplified to ensure that the model is suitable for finite element analysis, including checking that all faces and bodies are properly closed, there are no holes or disconnected parts, and removing some unnecessary details such as screws, small holes, etc., to reduce the complexity and calculation amount of meshing.

[0072] S101-2, according to the model of the reducer used in the wrist assembly, obtain the reducer stiffness value, and use the reducer stiffness value to set the bushing unit in the finite element software.

[0073] Among them, the bushing unit is used to connect different parts of the reducer in the three-dimensional design model corresponding to the wrist assembly.

[0074] According to the reducer model used in the wrist assembly, the reducer sample is queried to obtain the reducer stiffness value, and a bushing unit is constructed in the finite element software to connect the different parts of the reducer in the three-dimensional design model. The constructed bushing unit contains translational stiffness and torsional stiffness parameters, which can represent the translational stiffness, torsional stiffness and overturning stiffness of the reducer.

[0075] S101-3, using the reduction ratio of the reducer to process the material characteristic parameters of the synchronous belt and the motor shaft used in the wrist assembly.

[0076] According to the reduction ratio of the reducer used in the wrist assembly, the material characteristic parameters of the synchronous belt and the motor shaft are amplified.

[0077] Assuming that the reduction ratio of the reducer is n, when material deformation is not considered, ideally the rotation angle of the input end of the reducer is n times the rotation angle of the output end, and the input torque of the input end of the reducer is 1 / n of the torque of the output end of the reducer.

[0078] In the simulation model of the robotic arm, the synchronous belt and the motor shaft are connected to the input end of the reducer. The torque at the input end of the reducer is not reduced, and the deformation of the input end of the reducer and the synchronous belt and the motor shaft will also be directly transmitted to the output end of the reducer.

[0079] In order to accurately represent the influence of the deformation of the synchronous belt and the motor shaft on the deformation of the output end of the reducer, it is necessary to amplify the Young's modulus parameter in the material characteristic parameters of the synchronous belt and the motor shaft by n. 2 times, thereby more realistically reflecting the impact of the output torque of the reducer on the input end of the reducer and the deformation of the synchronous belt and motor shaft.

[0080] S101-4. In the finite element software, the material characteristic parameters of the synchronous belt and the motor shaft used by the processed wrist assembly are applied to the three-dimensional design model corresponding to the wrist assembly, and the three-dimensional design model corresponding to the wrist assembly is divided by finite element to obtain the finite element model corresponding to the wrist assembly.

[0081] In the finite element software, the rigid behaviors of components such as structural parts, reducers, motors, and synchronous belts in the 3D design model corresponding to the wrist assembly are set to rigid.

[0082] Finite element meshes are performed on the structural parts, reducer, motor, synchronous belt and other components in the three-dimensional design model corresponding to the wrist assembly to obtain a finite element model.

[0083] The material type of each part in the finite element model is defined according to the materials selected for each part in the wrist assembly. The material characteristic parameters of the reducer and the material characteristic parameters of the synchronous belt and motor shaft used in the processed wrist assembly are used to define the corresponding material properties such as Young's modulus and Poisson's ratio for each finite element. According to the mass of the reducer and motor in the wrist assembly and the volume of the reducer and motor in the finite element model, the equivalent density of the reducer and motor model materials in the finite element model is calculated and set.

[0084] S101-5, define the parts motion transfer relationship, load and boundary conditions of the wrist assembly in the finite element software, and apply them to the finite element model corresponding to the wrist assembly to obtain the structural model of the wrist assembly.

[0085] Among them, the parts motion transmission relationship is the contact and connection relationship between the structural parts, reducer, motor and synchronous belt in the wrist assembly.

[0086] In the finite element software, according to the instructions input by the user, the contact and connection relationship between the structural parts, reducer, motor and synchronous belt in the wrist assembly is set, the boundary conditions are set to fix the relative motion part of the 5-axis reducer, and the load block is connected to the front end of the wrist assembly or the equivalent mass is set.

[0087] S102, defining a plurality of first basic working conditions in finite element software according to the reducer positions of the components of the robot arm to be evaluated.

[0088] Among them, according to the position of the reducer of each joint in the robot, multiple coordinate systems are pre-defined. A 6-axis robot needs to define 6 coordinate systems. The origin of each coordinate system is located at the reference position of the relative rotation between the fixed end and the rotating end of the reducer. The coordinate systems at the reducers of the 1st, 2nd, 3rd, 4th, 5th, and 6th axes are respectively recorded as J1, J2, J3, J4, J5, and J6, which will be used to define the acceleration and speed of the robot joints relative to different coordinate systems according to different working conditions.

[0089] The first basic working condition includes gravity working condition, acceleration working condition around the axes of each reducer from axes 1 to 5, rotation working condition around the axes of each reducer from axes 1 to 5, acceleration starting working condition of the output end of the 6-axis reducer and the load block around the J6 coordinate system, and high-speed rotation working condition of the output end of the 6-axis reducer and the load block around the J6 coordinate system.

[0090] It can be understood that under different first basic working conditions, the acceleration and speed of the robot arm joints relative to the J1, J2, J3, J4, J5, and J6 coordinate systems are different.

[0091] S103, using the structural model of the wrist assembly and each first basic working condition, performing simulation analysis in finite element software to obtain simulation analysis results of the wrist assembly to evaluate the structural performance of the wrist assembly of the robot arm to be evaluated.

[0092] In a possible implementation, step S103 may include sub-steps S103 - 1 to S103 - 3 .

[0093] S103-1. In the finite element software, each first basic working condition is applied to the structural model of the wrist assembly, and a simulation analysis is performed in combination with the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly to obtain the simulation analysis results of the wrist assembly under each basic working condition.

[0094] In the finite element software, the corresponding materials, mass distribution and inertia matrix are assigned for each component in the structural model corresponding to the wrist assembly, and the stiffness matrix is ​​defined for the reducer and its connecting parts in the structural model corresponding to the wrist assembly. After completing the above operations, each first basic working condition is applied to the structural model of the wrist assembly to run static or transient dynamic analysis, and the deformation, stress, strain, displacement and other simulation analysis results of the wrist assembly under different first basic working conditions are obtained.

[0095] S103-2, combining each first basic operating condition corresponding to the wrist assembly to obtain a comprehensive operating condition corresponding to at least one wrist assembly.

[0096] The comprehensive working condition can be any combination of the gravity working condition, the acceleration working condition around the axes of the reducers from axes 1 to 5, the rotation working condition around the axes of the reducers from axes 1 to 5, the acceleration starting working condition of the output end of the 6-axis reducer and the load block around the J6 coordinate system, and the high-speed rotation working condition of the output end of the 6-axis reducer and the load block around the J6 coordinate system. When combining, the proportional factor value and the positive and negative signs of the proportional factors of each first basic working condition can also be adjusted to scale and reverse the load of each first basic working condition, wherein an increase in the proportional factor value indicates an increase in the acceleration and speed of the wrist assembly, and the positive and negative signs of the proportional factor respectively indicate different directions of the acceleration and speed of the wrist assembly.

[0097] S103-3, apply each comprehensive working condition corresponding to the wrist assembly to the structural model of the wrist assembly, and perform simulation analysis in combination with the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly to obtain the simulation analysis results of the wrist assembly under each comprehensive working condition.

[0098] In the finite element software, the corresponding materials, mass distribution and inertia matrix are assigned for each component in the structural model corresponding to the wrist assembly, and the stiffness matrix is ​​defined for the reducer and its connecting parts in the structural model corresponding to the wrist assembly. After completing the above operations, each comprehensive working condition is applied to the structural model of the wrist assembly to run static or transient dynamic analysis, and the simulation analysis results of deformation, stress, strain, displacement, etc. of the wrist assembly under different comprehensive working conditions are obtained.

[0099] It can be understood that according to the simulation analysis results of deformation, stress, strain, displacement, etc. of the wrist assembly under different working conditions, the structural characteristics of the wrist assembly including stiffness and strength can be evaluated.

[0100] The robotic arm also includes a forearm assembly connected to the wrist assembly, please refer to Figure 3 , after step S103, the robot arm structure performance evaluation method further includes steps S201 to S203.

[0101] S201, based on the model and reduction ratio of the reducer used in the forearm assembly, construct a structural model of the forearm assembly in finite element software, and assemble the structural model of the forearm assembly with the structural model of the wrist assembly to obtain a first structural model.

[0102] In a possible implementation, the construction process of the structural model of the forearm assembly can be: importing the three-dimensional design model corresponding to the forearm assembly into the finite element software; obtaining the reducer stiffness value according to the model of the reducer used by the forearm assembly, and using the reducer stiffness value to set in the finite element software for connecting different parts of the reducer in the three-dimensional design model corresponding to the forearm assembly; using the reduction ratio of the reducer used by the forearm assembly to process the material characteristic parameters of the synchronous belt and motor shaft used by the forearm assembly; in the finite element software, applying the processed material characteristic parameters of the synchronous belt and motor shaft used by the forearm assembly to the three-dimensional design model corresponding to the forearm assembly, and performing finite element division on the three-dimensional design model corresponding to the forearm assembly to obtain the finite element model corresponding to the forearm assembly; defining the part motion transfer relationship and load of the forearm assembly in the finite element software, and applying them to the finite element model corresponding to the forearm assembly to obtain the structural model of the forearm assembly.

[0103] Cancel the boundary conditions of the structural model corresponding to the wrist assembly, complete the assembly between the structural model corresponding to the wrist assembly and the structural model corresponding to the forearm assembly through the relative position between the wrist assembly and the forearm assembly, set the connection relationship between the structural model corresponding to the wrist assembly and the structural model corresponding to the forearm assembly, and obtain the first structural model.

[0104] The boundary condition of the first structural model is set to the relative motion part of the 4-axis reducer at the rear end of the fixed arm.

[0105] S202, defining a plurality of second basic working conditions in finite element software according to the positions of the reducers of the components of the robot arm to be evaluated and the simulation analysis results of the wrist assembly.

[0106] Among them, the acceleration and speed of the robot arm joints relative to the J1, J2, J3, and J4 coordinate systems are set respectively to obtain the three second basic working conditions: gravity working condition, accelerated starting condition around the 1-4 axis reducer axis, and high-speed rotation condition around the 1-4 axis reducer axis.

[0107] From the simulation analysis results of the wrist assembly, the reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the wrist assembly around the 5-axis reducer axis, the reaction force and reaction torque at the joint 5-axis reducer under the high-speed rotation condition of the wrist assembly around the 5-axis reducer axis, the reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the 6-axis reducer output end and the load block around the J6 coordinate system, and the reaction force and reaction torque at the joint 5-axis reducer under the high-speed rotation condition of the 6-axis reducer output end and the load block around the J6 coordinate system.

[0108] The reaction force and reaction torque at the joint 5-axis reducer under the condition of accelerated starting of the wrist assembly around the axis of the 5-axis reducer are defined to the position of the joint 5-axis reducer in the first structural model, and a second basic working condition is obtained: the working condition for evaluating the impact of the wrist assembly on the forearm assembly when it is accelerated and started around the axis of the 5-axis reducer.

[0109] The reaction force and reaction torque at the joint 5-axis reducer under the condition of high-speed rotation of the wrist assembly around the axis of the 5-axis reducer are defined to the position of the joint 5-axis reducer in the first structural model, and a second basic working condition is obtained: the working condition for evaluating the impact of high-speed rotation of the wrist assembly around the axis of the 5-axis reducer on the forearm assembly.

[0110] The reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the 6-axis reducer output end and the load block around the J6 coordinate system are defined to the position of the joint 5-axis reducer in the first structural model, and a second basic working condition is obtained: the working condition for evaluating the impact of the 6-axis reducer output end and the load block on the forearm assembly when accelerated starting around the J6 coordinate system.

[0111] The reaction force and reaction torque at the joint 5-axis reducer under the condition that the output end of the 6-axis reducer and the load block rotate at high speed around the J6 coordinate system are defined to the position of the joint 5-axis reducer in the first structural model, and a second basic working condition is obtained: the working condition for evaluating the impact of the 6-axis reducer output end and the load block rotating at high speed around the J6 coordinate system on the forearm assembly.

[0112] S203, using the first structural model and each second basic working condition, performing simulation analysis in finite element software to obtain simulation analysis results of the forearm assembly to evaluate the structural performance of the forearm assembly of the robot arm to be evaluated.

[0113] In a possible implementation, the implementation process of step S203 can be: in the finite element software, each second basic working condition is applied to the first structural model respectively, and the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly and the arm assembly are combined for simulation analysis to obtain the simulation analysis results of the arm assembly under each working condition; each second basic working condition is combined to obtain at least one comprehensive working condition; each comprehensive working condition is applied to the first structural model respectively, and the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly and the arm assembly are combined for simulation analysis to obtain the simulation analysis results of the arm assembly under each comprehensive working condition.

[0114] When combining the second basic working conditions, the proportional factor value and the positive and negative signs of the proportional factors of the second basic working conditions can also be adjusted to scale and reverse the loads of the second basic working conditions, wherein an increase in the proportional factor value indicates an increase in the acceleration and speed of the arm assembly, and the positive and negative signs of the proportional factor respectively indicate different directions of the acceleration and speed of the arm assembly.

[0115] It can be understood that according to the simulation analysis results of deformation, stress, strain, displacement, etc. of the arm assembly under different working conditions, the structural characteristics of the arm assembly including stiffness and strength can be evaluated.

[0116] The robotic arm also includes an elbow assembly connected to the forearm assembly, please refer to Figure 4 , after step S203, the robot arm structure performance evaluation method further includes steps S301 to S303.

[0117] S301, based on the model and reduction ratio of the reducer used in the elbow assembly, construct a structural model of the elbow assembly in finite element software, and assemble the structural model of the elbow assembly with the first structural model to obtain a second structural model.

[0118] In a possible implementation, the construction process of the structural model of the elbow assembly can be: importing the three-dimensional design model corresponding to the elbow assembly into the finite element software; obtaining the reducer stiffness value according to the model of the reducer used by the elbow assembly, and using the reducer stiffness value to set in the finite element software for connecting different parts of the reducer in the three-dimensional design model corresponding to the elbow assembly; using the reduction ratio of the reducer used by the elbow assembly to process the material characteristic parameters of the synchronous belt and motor shaft used by the elbow assembly; in the finite element software, applying the processed material characteristic parameters of the synchronous belt and motor shaft used by the elbow assembly to the three-dimensional design model corresponding to the elbow assembly, and performing finite element division on the three-dimensional design model corresponding to the elbow assembly to obtain the finite element model corresponding to the elbow assembly; defining the part motion transfer relationship and load of the elbow assembly in the finite element software, and applying them to the finite element model corresponding to the elbow assembly to obtain the structural model of the elbow assembly.

[0119] The boundary conditions of the first structural model are cancelled, the assembly between the structural model corresponding to the elbow assembly and the first structural model is completed through the relative position between the forearm assembly and the elbow assembly, and the connection relationship between the structural model corresponding to the elbow assembly and the first structural model is set to obtain the second structural model.

[0120] The boundary condition of the second structural model is set to fix the relative motion part of the 3-axis reducer at the rear end of the elbow.

[0121] S302, defining a plurality of third basic working conditions in finite element software according to the reducer positions of the components of the robot arm to be evaluated, the simulation analysis results of the wrist assembly and the simulation analysis results of the forearm assembly.

[0122] Among them, the acceleration and speed of the robot arm joints relative to the J1, J2, and J3 coordinate systems are set respectively to obtain three third basic working conditions: gravity working condition, accelerated starting condition around the 1-3 axis reducer axis, and high-speed rotation condition around the 1-3 axis reducer axis.

[0123] From the simulation analysis results of the forearm assembly, the reaction force and reaction torque at the joint 4-axis reducer under the condition of accelerated starting of the forearm assembly around the axis of the 4-axis reducer, and the reaction force and reaction torque at the joint 4-axis reducer under the condition of high-speed rotation of the forearm assembly around the axis of the 4-axis reducer are obtained.

[0124] The reaction force and reaction torque at the joint 4-axis reducer under the condition of accelerated starting of the forearm assembly around the axis of the 4-axis reducer are defined to the position of the joint 4-axis reducer in the second structural model, and a third basic working condition is obtained: the working condition for evaluating the impact of the forearm assembly on the elbow assembly when it is accelerated and started around the axis of the 4-axis reducer.

[0125] The reaction force and reaction torque at the joint 4-axis reducer under the condition of high-speed rotation of the forearm assembly around the axis of the 4-axis reducer are defined to the position of the joint 4-axis reducer in the second structural model, and a third basic working condition is obtained: the working condition for evaluating the impact of the forearm assembly rotating at high speed around the axis of the 4-axis reducer on the elbow assembly.

[0126] From the simulation analysis results of the wrist assembly, the reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the wrist assembly around the 5-axis reducer axis, the reaction force and reaction torque at the joint 5-axis reducer under the high-speed rotation condition of the wrist assembly around the 5-axis reducer axis, the reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the 6-axis reducer output end and the load block around the J6 coordinate system, and the reaction force and reaction torque at the joint 5-axis reducer under the high-speed rotation condition of the 6-axis reducer output end and the load block around the J6 coordinate system.

[0127] The reaction force and reaction torque at the joint 5-axis reducer under the condition of accelerated starting of the wrist assembly around the axis of the 5-axis reducer are defined to the position of the joint 5-axis reducer in the second structural model, and a third basic working condition is obtained: the working condition for evaluating the impact of the wrist assembly on the forearm assembly when it is accelerated and started around the axis of the 5-axis reducer.

[0128] The reaction force and reaction torque at the joint 5-axis reducer under the condition of high-speed rotation of the wrist assembly around the axis of the 5-axis reducer are defined to the position of the joint 5-axis reducer in the second structural model, and a third basic working condition is obtained: the working condition for evaluating the impact of high-speed rotation of the wrist assembly around the axis of the 5-axis reducer on the forearm assembly.

[0129] The reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the 6-axis reducer output end and the load block around the J6 coordinate system are defined to the position of the joint 5-axis reducer in the second structural model, and a third basic working condition is obtained: the working condition for evaluating the impact of the 6-axis reducer output end and the load block on the forearm assembly when accelerated starting around the J6 coordinate system.

[0130] The reaction force and reaction torque at the joint 5-axis reducer under the condition that the output end of the 6-axis reducer and the load block rotate at high speed around the J6 coordinate system are defined to the position of the joint 5-axis reducer in the second structural model, and a third basic working condition is obtained: the working condition for evaluating the impact of the 6-axis reducer output end and the load block rotating at high speed around the J6 coordinate system on the forearm assembly.

[0131] S303, using the second structural model and each third basic working condition, performing simulation analysis in finite element software to obtain simulation analysis results of the elbow assembly to evaluate the structural performance of the elbow assembly of the robot arm to be evaluated.

[0132] In a possible implementation, the implementation process of step S303 can be: in the finite element software, each third basic working condition is applied to the second structural model respectively, and the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly, forearm assembly and elbow assembly are combined for simulation analysis to obtain the simulation analysis results of the elbow assembly under each working condition; each third basic working condition is combined to obtain at least one comprehensive working condition; each comprehensive working condition is applied to the second structural model respectively, and the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly, forearm assembly and elbow assembly are combined for simulation analysis to obtain the simulation analysis results of the elbow assembly under each comprehensive working condition.

[0133] When combining the third basic working conditions, the proportional factor value and the positive and negative signs of the proportional factors of the third basic working conditions can also be adjusted to scale and reverse the loads of the third basic working conditions, wherein an increase in the proportional factor value indicates an increase in the acceleration and speed of the elbow assembly, and the positive and negative signs of the proportional factor respectively indicate different directions of the acceleration and speed of the elbow assembly.

[0134] It can be understood that according to the simulation analysis results of deformation, stress, strain, displacement, etc. of the elbow assembly under different working conditions, the structural characteristics of the elbow assembly including stiffness and strength can be evaluated.

[0135] The robot arm also includes a large arm assembly connected to the elbow assembly, please refer to Figure 5 , after step S303, the robot arm structure performance evaluation method further includes steps S401 to S403.

[0136] S401, based on the model and reduction ratio of the reducer used in the boom assembly, construct a structural model of the boom assembly in finite element software, and assemble the structural model of the boom assembly with the second structural model to obtain a third structural model.

[0137] In a possible implementation, the construction process of the structural model of the boom assembly can be: importing the three-dimensional design model corresponding to the boom assembly into the finite element software; obtaining the reducer stiffness value according to the model of the reducer used by the boom assembly, and using the reducer stiffness value to set in the finite element software for connecting different parts of the reducer in the three-dimensional design model corresponding to the boom assembly; using the reduction ratio of the reducer used by the boom assembly to process the material characteristic parameters of the synchronous belt and motor shaft used by the boom assembly; in the finite element software, applying the processed material characteristic parameters of the synchronous belt and motor shaft used by the boom assembly to the three-dimensional design model corresponding to the boom assembly, and performing finite element division on the three-dimensional design model corresponding to the boom assembly to obtain the finite element model corresponding to the boom assembly; defining the part motion transfer relationship and load of the boom assembly in the finite element software, and applying them to the finite element model corresponding to the boom assembly to obtain the structural model of the boom assembly.

[0138] The boundary conditions of the second structural model are cancelled, the assembly between the structural model corresponding to the boom assembly and the second structural model is completed through the relative position between the elbow assembly and the boom assembly, and the connection relationship between the structural model corresponding to the boom assembly and the second structural model is set to obtain the third structural model.

[0139] The boundary condition of the third structural model is set to fix the relative motion part of the 2-axis reducer at the rear end of the boom.

[0140] S402, defining a plurality of fourth basic working conditions in the finite element software according to the reducer positions of the components of the robot arm to be evaluated, the simulation analysis results of the wrist assembly, the simulation analysis results of the forearm assembly, and the simulation analysis results of the elbow assembly.

[0141] The acceleration and velocity of the robot arm joints relative to the J1 and J2 coordinate systems are set respectively, and three fourth basic working conditions are obtained: gravity working condition, accelerated starting condition around the 1-2 axis reducer axis, and high-speed rotation condition around the 1-2 axis reducer axis.

[0142] From the simulation analysis results of the elbow assembly, the reaction force and reaction torque at the joint 3-axis reducer under the condition of accelerated starting of the elbow assembly around the axis of the 3-axis reducer, and the reaction force and reaction torque at the joint 3-axis reducer under the condition of high-speed rotation of the elbow assembly around the axis of the 3-axis reducer are obtained.

[0143] The reaction force and reaction torque at the joint 3-axis reducer under the condition of accelerated starting of the elbow assembly around the axis of the 3-axis reducer are defined to the position of the joint 3-axis reducer in the third structural model, and a fourth basic working condition is obtained: the working condition for evaluating the impact of the elbow assembly on the boom assembly when accelerated starting around the axis of the 3-axis reducer.

[0144] The reaction force and reaction torque at the joint 3-axis reducer under the condition of high-speed rotation of the elbow assembly around the axis of the 3-axis reducer are defined to the position of the joint 3-axis reducer in the third structural model, and a fourth basic working condition is obtained: the working condition for evaluating the impact of the elbow assembly rotating at high speed around the axis of the 3-axis reducer on the boom assembly.

[0145] From the simulation analysis results of the forearm assembly, the reaction force and reaction torque at the joint 4-axis reducer under the condition of accelerated starting of the forearm assembly around the axis of the 4-axis reducer, and the reaction force and reaction torque at the joint 4-axis reducer under the condition of high-speed rotation of the forearm assembly around the axis of the 4-axis reducer are obtained.

[0146] The reaction force and reaction torque at the joint 4-axis reducer under the condition of accelerated starting of the forearm assembly around the axis of the 4-axis reducer are defined to the position of the joint 4-axis reducer in the third structural model, and a fourth basic working condition is obtained: the working condition for evaluating the impact of the forearm assembly on the elbow assembly when it is accelerated and started around the axis of the 4-axis reducer.

[0147] The reaction force and reaction torque at the joint 4-axis reducer under the condition of high-speed rotation of the forearm assembly around the axis of the 4-axis reducer are defined to the position of the joint 4-axis reducer in the third structural model, and a fourth basic working condition is obtained: the working condition for evaluating the impact of the forearm assembly rotating at high speed around the axis of the 4-axis reducer on the elbow assembly.

[0148] From the simulation analysis results of the wrist assembly, the reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the wrist assembly around the 5-axis reducer axis, the reaction force and reaction torque at the joint 5-axis reducer under the high-speed rotation condition of the wrist assembly around the 5-axis reducer axis, the reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the 6-axis reducer output end and the load block around the J6 coordinate system, and the reaction force and reaction torque at the joint 5-axis reducer under the high-speed rotation condition of the 6-axis reducer output end and the load block around the J6 coordinate system.

[0149] The reaction force and reaction torque at the joint 5-axis reducer under the condition of accelerated starting of the wrist assembly around the axis of the 5-axis reducer are defined to the position of the joint 5-axis reducer in the third structural model, and a fourth basic working condition is obtained: the working condition for evaluating the impact of the wrist assembly on the forearm assembly when it is accelerated and started around the axis of the 5-axis reducer.

[0150] The reaction force and reaction torque at the joint 5-axis reducer under the condition of high-speed rotation of the wrist assembly around the axis of the 5-axis reducer are defined to the position of the joint 5-axis reducer in the third structural model, and a fourth basic working condition is obtained: the working condition for evaluating the impact of high-speed rotation of the wrist assembly around the axis of the 5-axis reducer on the forearm assembly.

[0151] The reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the 6-axis reducer output end and the load block around the J6 coordinate system are defined to the position of the joint 5-axis reducer in the third structural model, and a fourth basic working condition is obtained: the working condition for evaluating the impact of the 6-axis reducer output end and the load block on the forearm assembly when accelerated starting around the J6 coordinate system.

[0152] The reaction force and reaction torque at the joint 5-axis reducer under the condition that the output end of the 6-axis reducer and the load block rotate at high speed around the J6 coordinate system are defined to the position of the joint 5-axis reducer in the third structural model, and a fourth basic working condition is obtained: the working condition for evaluating the impact of the 6-axis reducer output end and the load block rotating at high speed around the J6 coordinate system on the forearm assembly.

[0153] S403, using the third structural model and each fourth basic working condition, performing simulation analysis in finite element software to obtain simulation analysis results of the boom assembly to evaluate the structural performance of the boom assembly of the robot arm to be evaluated.

[0154] In a possible implementation, the implementation process of step S403 can be: in the finite element software, each fourth basic working condition is applied to the third structural model respectively, and the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly, forearm assembly, elbow assembly and boom assembly are combined for simulation analysis to obtain the simulation analysis results of the boom assembly under each working condition; each fourth basic working condition is combined to obtain at least one comprehensive working condition; each comprehensive working condition is applied to the third structural model respectively, and the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly, forearm assembly, elbow assembly and boom assembly are combined for simulation analysis to obtain the simulation analysis results of the boom assembly under each comprehensive working condition.

[0155] When combining the fourth basic working conditions, the proportional factor value and the positive and negative signs of the proportional factors of the fourth basic working conditions can also be adjusted to scale and reverse the loads of the fourth basic working conditions, wherein an increase in the proportional factor value indicates an increase in the acceleration and speed of the boom assembly, and the positive and negative signs of the proportional factor respectively indicate different directions of the acceleration and speed of the boom assembly.

[0156] It can be understood that according to the simulation analysis results of deformation, stress, strain, displacement, etc. of the boom assembly under different working conditions, the structural characteristics of the boom assembly including stiffness and strength can be evaluated.

[0157] The robotic arm also includes a waist assembly connected to the upper arm assembly, please refer to Figure 6 , after step S403, the robot arm structure performance evaluation method further includes steps S501 to S503.

[0158] S501, based on the model and reduction ratio of the reducer used in the waist assembly, construct a structural model of the waist assembly in finite element software, and assemble the structural model of the waist assembly with the third structural model to obtain a fourth structural model.

[0159] In a possible implementation, the construction process of the structural model of the waist assembly can be: importing the three-dimensional design model corresponding to the waist assembly into the finite element software; obtaining the reducer stiffness value according to the model of the reducer used in the waist assembly, and using the reducer stiffness value to set in the finite element software for connecting different parts of the reducer in the three-dimensional design model corresponding to the waist assembly; using the reduction ratio of the reducer used in the waist assembly to process the material characteristic parameters of the synchronous belt and motor shaft used in the waist assembly; in the finite element software, applying the processed material characteristic parameters of the synchronous belt and motor shaft used in the waist assembly to the three-dimensional design model corresponding to the waist assembly, and performing finite element division on the three-dimensional design model corresponding to the waist assembly to obtain the finite element model corresponding to the waist assembly; defining the parts motion transfer relationship and load of the waist assembly in the finite element software, and applying them to the finite element model corresponding to the waist assembly to obtain the structural model of the waist assembly.

[0160] The boundary conditions of the third structural model are cancelled, the assembly between the structural model corresponding to the waist assembly and the third structural model is completed through the relative position between the upper arm assembly and the waist assembly, and the connection relationship between the structural model corresponding to the waist assembly and the third structural model is set to obtain the fourth structural model.

[0161] The boundary condition of the fourth structural model is set to fix the relative motion part of the 1-axis reducer at the rear end of the waist.

[0162] S502, defining a plurality of fifth basic working conditions in the finite element software according to the reducer positions of the components of the robot arm to be evaluated, the simulation analysis results of the wrist assembly, the simulation analysis results of the forearm assembly, the simulation analysis results of the elbow assembly and the simulation analysis results of the boom assembly.

[0163] The acceleration and velocity of the robot joint relative to the J1 coordinate system are set respectively, and three fifth basic working conditions are obtained: gravity working condition, accelerated starting condition around the axis of the reducer of axis 1, and high-speed rotation condition around the axis of the reducer of axis 1.

[0164] From the simulation analysis results of the boom assembly, the reaction force and reaction torque at the joint 2-axis reducer under the condition of accelerated starting of the boom assembly around the 2-axis reducer axis, and the reaction force and reaction torque at the joint 2-axis reducer under the condition of high-speed rotation of the boom assembly around the 2-axis reducer axis are obtained.

[0165] The reaction force and reaction torque at the joint 2-axis reducer under the condition of accelerated starting of the boom assembly around the axis of the 2-axis reducer are defined to the position of the joint 2-axis reducer in the fourth structural model, and a fifth basic working condition is obtained: the working condition for evaluating the impact of the boom assembly on the waist assembly when it is accelerated and started around the axis of the 2-axis reducer.

[0166] The reaction force and reaction torque at the joint 2-axis reducer under the condition of high-speed rotation of the boom assembly around the axis of the 2-axis reducer are defined to the position of the joint 2-axis reducer in the fourth structural model, and a fifth basic working condition is obtained: the working condition for evaluating the impact of the boom assembly rotating at high speed around the axis of the 2-axis reducer on the waist assembly.

[0167] From the simulation analysis results of the elbow assembly, the reaction force and reaction torque at the joint 3-axis reducer under the condition of accelerated starting of the elbow assembly around the axis of the 3-axis reducer, and the reaction force and reaction torque at the joint 3-axis reducer under the condition of high-speed rotation of the elbow assembly around the axis of the 3-axis reducer are obtained.

[0168] The reaction force and reaction torque at the joint 3-axis reducer under the condition of accelerated starting of the elbow assembly around the axis of the 3-axis reducer are defined to the position of the joint 3-axis reducer in the fourth structural model, and a fifth basic working condition is obtained: the working condition for evaluating the impact of the elbow assembly on the boom assembly when accelerated starting around the axis of the 3-axis reducer.

[0169] The reaction force and reaction torque at the joint 3-axis reducer under the condition of high-speed rotation of the elbow assembly around the axis of the 3-axis reducer are defined to the position of the joint 3-axis reducer in the fourth structural model, and a fifth basic working condition is obtained: the working condition for evaluating the impact of the elbow assembly rotating at high speed around the axis of the 3-axis reducer on the boom assembly.

[0170] From the simulation analysis results of the forearm assembly, the reaction force and reaction torque at the joint 4-axis reducer under the condition of accelerated starting of the forearm assembly around the axis of the 4-axis reducer, and the reaction force and reaction torque at the joint 4-axis reducer under the condition of high-speed rotation of the forearm assembly around the axis of the 4-axis reducer are obtained.

[0171] The reaction force and reaction torque at the joint 4-axis reducer under the condition of accelerated starting of the forearm assembly around the axis of the 4-axis reducer are defined to the position of the joint 4-axis reducer in the fourth structural model, and a fifth basic working condition is obtained: the working condition for evaluating the impact of the forearm assembly on the elbow assembly when it is accelerated and started around the axis of the 4-axis reducer.

[0172] The reaction force and reaction torque at the joint 4-axis reducer under the condition of high-speed rotation of the forearm assembly around the axis of the 4-axis reducer are defined to the position of the joint 4-axis reducer in the fourth structural model, and a fifth basic working condition is obtained: the working condition for evaluating the impact of the forearm assembly rotating at high speed around the axis of the 4-axis reducer on the elbow assembly.

[0173] From the simulation analysis results of the wrist assembly, the reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the wrist assembly around the 5-axis reducer axis, the reaction force and reaction torque at the joint 5-axis reducer under the high-speed rotation condition of the wrist assembly around the 5-axis reducer axis, the reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the 6-axis reducer output end and the load block around the J6 coordinate system, and the reaction force and reaction torque at the joint 5-axis reducer under the high-speed rotation condition of the 6-axis reducer output end and the load block around the J6 coordinate system.

[0174] The reaction force and reaction torque at the joint 5-axis reducer under the condition of accelerated starting of the wrist assembly around the axis of the 5-axis reducer are defined to the position of the joint 5-axis reducer in the fourth structural model, and a fifth basic working condition is obtained: the working condition for evaluating the impact of the wrist assembly on the forearm assembly when it is accelerated and started around the axis of the 5-axis reducer.

[0175] The reaction force and reaction torque at the joint 5-axis reducer under the condition of high-speed rotation of the wrist assembly around the axis of the 5-axis reducer are defined to the position of the joint 5-axis reducer in the fourth structural model, and a fifth basic working condition is obtained: the working condition for evaluating the impact of high-speed rotation of the wrist assembly around the axis of the 5-axis reducer on the forearm assembly.

[0176] The reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the 6-axis reducer output end and the load block around the J6 coordinate system are defined to the position of the joint 5-axis reducer in the fourth structural model, and a fifth basic working condition is obtained: the working condition for evaluating the impact of the 6-axis reducer output end and the load block on the forearm assembly when accelerated starting around the J6 coordinate system.

[0177] The reaction force and reaction torque at the joint 5-axis reducer under the condition that the output end of the 6-axis reducer and the load block rotate at high speed around the J6 coordinate system are defined to the position of the joint 5-axis reducer in the fourth structural model, and a fifth basic working condition is obtained: the working condition for evaluating the impact of the 6-axis reducer output end and the load block rotating at high speed around the J6 coordinate system on the forearm assembly.

[0178] S503, using the fourth structural model and each fifth basic working condition, perform simulation analysis in finite element software to obtain simulation analysis results of the waist assembly to evaluate the structural performance of the waist assembly of the robot arm to be evaluated.

[0179] In a possible implementation, the implementation process of step S503 can be: in the finite element software, each fifth basic working condition is applied to the fourth structural model respectively, and the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly, forearm assembly, elbow assembly, upper arm assembly and waist assembly are combined for simulation analysis to obtain the simulation analysis results of the waist assembly under each working condition; each fifth basic working condition is combined to obtain at least one comprehensive working condition; each comprehensive working condition is applied to the fourth structural model respectively, and the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly, forearm assembly, elbow assembly, upper arm assembly and waist assembly are combined for simulation analysis to obtain the simulation analysis results of the waist assembly under each comprehensive working condition.

[0180] When combining the fifth basic working conditions, the proportional factor value and the positive and negative signs of the proportional factors of the fifth basic working conditions can also be adjusted to scale and reverse the loads of the fifth basic working conditions, wherein an increase in the proportional factor value indicates an increase in the acceleration and speed of the waist assembly, and the positive and negative signs of the proportional factor respectively indicate different directions of the acceleration and speed of the waist assembly.

[0181] It can be understood that according to the simulation analysis results of deformation, stress, strain, displacement, etc. of the waist assembly under different working conditions, the structural characteristics of the waist assembly including stiffness and strength can be evaluated.

[0182] The robotic arm also includes a base assembly connected to the waist assembly, please refer to Figure 7 , after step S503, the robot arm structure performance evaluation method further includes steps S601 to S603.

[0183] S601, based on the model and reduction ratio of the reducer used in the base assembly, construct a structural model of the base assembly in finite element software, and assemble the structural model of the base assembly with the fourth structural model to obtain a fifth structural model.

[0184] In a possible implementation, the construction process of the structural model of the base assembly can be: importing the three-dimensional design model corresponding to the base assembly into the finite element software; obtaining the reducer stiffness value according to the model of the reducer used by the base assembly, and using the reducer stiffness value to set in the finite element software for connecting different parts of the reducer in the three-dimensional design model corresponding to the base assembly; using the reduction ratio of the reducer used by the base assembly to process the material characteristic parameters of the synchronous belt and motor shaft used by the base assembly; in the finite element software, applying the processed material characteristic parameters of the synchronous belt and motor shaft used by the waist assembly to the three-dimensional design model corresponding to the base assembly, and performing finite element division on the three-dimensional design model corresponding to the base assembly to obtain the finite element model corresponding to the base assembly; defining the part motion transfer relationship and load of the base assembly in the finite element software, and applying them to the finite element model corresponding to the base assembly to obtain the structural model of the base assembly.

[0185] Cancel the boundary conditions of the fourth structural model, complete the assembly between the structural model corresponding to the base assembly and the fourth structural model through the relative position between the waist assembly and the base assembly, set the connection relationship between the structural model corresponding to the base assembly and the fourth structural model, and obtain the fifth structural model.

[0186] S602, define multiple sixth basic working conditions in the finite element software according to the reducer positions of the components of the robotic arm to be evaluated, the simulation analysis results of the wrist assembly, the simulation analysis results of the forearm assembly, the simulation analysis results of the elbow assembly, the simulation analysis results of the upper arm assembly, and the simulation analysis structure of the waist assembly.

[0187] Set the robot arm joint to be subject to gravity.

[0188] From the simulation analysis results of the waist assembly, the reaction force and reaction torque at the joint 1-axis reducer under the condition of accelerated starting of the waist assembly around the axis of the 1-axis reducer, and the reaction force and reaction torque at the joint 1-axis reducer under the condition of high-speed rotation of the waist assembly around the axis of the 1-axis reducer are obtained.

[0189] The reaction force and reaction torque at the joint 1-axis reducer under the condition of accelerated starting of the waist assembly around the axis of the 1-axis reducer are defined to the position of the joint 1-axis reducer in the fifth structural model, and a sixth basic working condition is obtained: the working condition for evaluating the impact of the waist assembly on the base assembly when it is accelerated and started around the axis of the 1-axis reducer.

[0190] The reaction force and reaction torque at the joint 1-axis reducer under the condition of high-speed rotation of the waist assembly around the axis of the 1-axis reducer are defined to the position of the joint 1-axis reducer in the fifth structural model, and a sixth basic working condition is obtained: the working condition for evaluating the impact of the waist assembly rotating at high speed around the axis of the 1-axis reducer on the base assembly.

[0191] From the simulation analysis results of the boom assembly, the reaction force and reaction torque at the joint 2-axis reducer under the condition of accelerated starting of the boom assembly around the 2-axis reducer axis, and the reaction force and reaction torque at the joint 2-axis reducer under the condition of high-speed rotation of the boom assembly around the 2-axis reducer axis are obtained.

[0192] The reaction force and reaction torque at the joint 2-axis reducer under the condition of accelerated starting of the boom assembly around the axis of the 2-axis reducer are defined to the position of the joint 2-axis reducer in the fifth structural model, and a sixth basic working condition is obtained: the working condition for evaluating the impact of the boom assembly on the waist assembly when it is accelerated and started around the axis of the 2-axis reducer.

[0193] The reaction force and reaction torque at the joint 2-axis reducer under the condition of high-speed rotation of the boom assembly around the axis of the 2-axis reducer are defined to the position of the joint 2-axis reducer in the fifth structural model, and a sixth basic working condition is obtained: the working condition for evaluating the impact of the high-speed rotation of the boom assembly around the axis of the 2-axis reducer on the waist assembly.

[0194] From the simulation analysis results of the elbow assembly, the reaction force and reaction torque at the joint 3-axis reducer under the condition of accelerated starting of the elbow assembly around the axis of the 3-axis reducer, and the reaction force and reaction torque at the joint 3-axis reducer under the condition of high-speed rotation of the elbow assembly around the axis of the 3-axis reducer are obtained.

[0195] The reaction force and reaction torque at the joint 3-axis reducer under the condition of accelerated starting of the elbow assembly around the axis of the 3-axis reducer are defined to the position of the joint 3-axis reducer in the fifth structural model, and a sixth basic working condition is obtained: the working condition for evaluating the impact of the elbow assembly on the boom assembly when accelerated starting around the axis of the 3-axis reducer.

[0196] The reaction force and reaction torque at the joint 3-axis reducer under the condition of high-speed rotation of the elbow assembly around the axis of the 3-axis reducer are defined to the position of the joint 3-axis reducer in the fifth structural model, and a sixth basic working condition is obtained: the working condition for evaluating the impact of the elbow assembly rotating at high speed around the axis of the 3-axis reducer on the boom assembly.

[0197] From the simulation analysis results of the forearm assembly, the reaction force and reaction torque at the joint 4-axis reducer under the condition of accelerated starting of the forearm assembly around the axis of the 4-axis reducer, and the reaction force and reaction torque at the joint 4-axis reducer under the condition of high-speed rotation of the forearm assembly around the axis of the 4-axis reducer are obtained.

[0198] The reaction force and reaction torque at the joint 4-axis reducer under the condition of accelerated starting of the forearm assembly around the axis of the 4-axis reducer are defined to the position of the joint 4-axis reducer in the fifth structural model, and a sixth basic working condition is obtained: the working condition for evaluating the impact of the forearm assembly on the elbow assembly when it is accelerated and started around the axis of the 4-axis reducer.

[0199] The reaction force and reaction torque at the joint 4-axis reducer under the condition of high-speed rotation of the forearm assembly around the axis of the 4-axis reducer are defined to the position of the joint 4-axis reducer in the fifth structural model, and a sixth basic working condition is obtained: the working condition for evaluating the impact of the forearm assembly rotating at high speed around the axis of the 4-axis reducer on the elbow assembly.

[0200] From the simulation analysis results of the wrist assembly, the reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the wrist assembly around the 5-axis reducer axis, the reaction force and reaction torque at the joint 5-axis reducer under the high-speed rotation condition of the wrist assembly around the 5-axis reducer axis, the reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the 6-axis reducer output end and the load block around the J6 coordinate system, and the reaction force and reaction torque at the joint 5-axis reducer under the high-speed rotation condition of the 6-axis reducer output end and the load block around the J6 coordinate system.

[0201] The reaction force and reaction torque at the joint 5-axis reducer under the condition of accelerated starting of the wrist assembly around the axis of the 5-axis reducer are defined to the position of the joint 5-axis reducer in the fifth structural model, and a sixth basic working condition is obtained: the working condition for evaluating the impact of the wrist assembly on the forearm assembly when it is accelerated and started around the axis of the 5-axis reducer.

[0202] The reaction force and reaction torque at the joint 5-axis reducer under the condition of high-speed rotation of the wrist assembly around the axis of the 5-axis reducer are defined to the position of the joint 5-axis reducer in the fifth structural model, and a sixth basic working condition is obtained: the working condition for evaluating the impact of high-speed rotation of the wrist assembly around the axis of the 5-axis reducer on the forearm assembly.

[0203] The reaction force and reaction torque at the joint 5-axis reducer under the accelerated starting condition of the 6-axis reducer output end and the load block around the J6 coordinate system are defined to the position of the joint 5-axis reducer in the fifth structural model, and a sixth basic working condition is obtained: the working condition for evaluating the impact of the 6-axis reducer output end and the load block on the forearm assembly when accelerated starting around the J6 coordinate system.

[0204] The reaction force and reaction torque at the joint 5-axis reducer under the condition that the 6-axis reducer output end and the load block rotate at high speed around the J6 coordinate system are defined to the position of the joint 5-axis reducer in the fifth structural model, and a sixth basic working condition is obtained: the working condition for evaluating the impact of the 6-axis reducer output end and the load block rotating at high speed around the J6 coordinate system on the forearm assembly.

[0205] S603, using the fifth structural model and each sixth basic working condition, performing simulation analysis in finite element software to obtain simulation analysis results of the base assembly to evaluate the structural performance of the base assembly of the robot arm to be evaluated.

[0206] In a possible implementation, the implementation process of step S603 can be: in the finite element software, each sixth basic working condition is applied to the fifth structural model respectively, and the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly, forearm assembly, elbow assembly, upper arm assembly, waist assembly and base assembly are combined for simulation analysis to obtain the simulation analysis results of the base assembly under each working condition; each sixth basic working condition is combined to obtain at least one comprehensive working condition; each comprehensive working condition is applied to the fifth structural model respectively, and the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly, forearm assembly, elbow assembly, upper arm assembly, waist assembly and base assembly are combined for simulation analysis to obtain the simulation analysis results of the base assembly under each comprehensive working condition.

[0207] When combining the sixth basic working conditions, the proportional factor value and the positive and negative signs of the proportional factors of the sixth basic working conditions can also be adjusted to scale and reverse the loads of the sixth basic working conditions, wherein an increase in the proportional factor value indicates an increase in the acceleration and speed of the base assembly, and the positive and negative signs of the proportional factor respectively indicate different directions of the acceleration and speed of the base assembly.

[0208] It can be understood that according to the simulation analysis results of deformation, stress, strain, displacement, etc. of the base assembly under different working conditions, the structural characteristics of the base assembly including stiffness and strength can be evaluated.

[0209] Compared with the prior art, the embodiment of the present invention amplifies the material characteristic parameters of the synchronous belt and the motor shaft according to the reduction ratio when setting the material parameters to simulate the influence of the deformation of the synchronous belt and the motor shaft on the rotation angle of the reducer end, and takes into account the influence of each level of speed ratio on the deformation of the robot arm end.

[0210] The embodiment of the present invention defines the acceleration and speed of the robot arm relative to the fixed part of the reducer, and takes into account the Coriolis force of each part when evaluating the structural performance. Compared with the existing method of directly defining force loads and torque loads at the joints of the robot arm, the evaluation results are more comprehensive and accurate.

[0211] The embodiment of the present invention combines multiple working conditions based on different single working conditions of the robotic arm, and changes the size and positive and negative signs of the coefficients when combining the working conditions to achieve changes in the size and direction of acceleration and velocity, thereby comparing the deformation and stress of the robotic arm under different working conditions to discover the worse working conditions and weak points of the robotic arm and make improvements.

[0212] In order to perform the corresponding steps in the above embodiments and various possible methods, a method for implementing a mechanical arm structure performance evaluation device 200 is provided below. Figure 8 , Figure 8This is a functional module diagram of a mechanical arm structure performance evaluation device 200 provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the mechanical arm structure performance evaluation device 200 provided in this embodiment are the same as those of the above-mentioned embodiments. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above-mentioned embodiments. The mechanical arm structure performance evaluation device 200 includes:

[0213] The construction module 201 is used to construct a structural model of the wrist assembly of the robot arm to be evaluated in the finite element software based on the model and reduction ratio of the reducer used in the wrist assembly of the robot arm to be evaluated.

[0214] The processing module 202 is used to define a plurality of first basic working conditions in the finite element software according to the reducer positions of the components of the robotic arm to be evaluated; and to perform simulation analysis in the finite element software using the structural model of the wrist assembly and each of the first basic working conditions to obtain simulation analysis results of the wrist assembly so as to evaluate the structural performance of the wrist assembly of the robotic arm to be evaluated.

[0215] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory shown in the figure or solidified in the operating system (OS) of the electronic device, and can be Figure 1 Meanwhile, the data and program codes required for executing the above modules can be stored in the memory.

[0216] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0217] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0218] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, electronic device, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0219] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for evaluating the structural performance of a robotic arm, characterized in that: Applied to an electronic device, on which finite element software is deployed, the method comprises: Based on the model and reduction ratio of the reducer used in the wrist assembly of the robot arm to be evaluated, construct a structural model of the wrist assembly in the finite element software; According to the reducer positions of the components of the robot arm to be evaluated, a plurality of first basic working conditions are defined in the finite element software; Using the structural model of the wrist assembly and each of the first basic working conditions, simulation analysis is performed in the finite element software to obtain simulation analysis results of the wrist assembly to evaluate the structural performance of the wrist assembly of the robotic arm to be evaluated.

2. The method according to claim 1, characterized in that The step of constructing a structural model of the wrist assembly of the robotic arm to be evaluated in the finite element software based on the model and reduction ratio of the reducer used by the wrist assembly of the robotic arm to be evaluated comprises: Importing the three-dimensional design model corresponding to the wrist assembly into the finite element software; According to the model of the reducer used in the wrist assembly, the reducer stiffness value is obtained, and the reducer stiffness value is used to set a bushing unit in the finite element software, wherein the bushing unit is used to connect different parts of the reducer in the three-dimensional design model corresponding to the wrist assembly; Using the reduction ratio of the reducer to process the material characteristic parameters of the synchronous belt and the motor shaft used in the wrist assembly; In the finite element software, the processed material characteristic parameters of the synchronous belt and the motor shaft used by the wrist assembly are applied to the three-dimensional design model corresponding to the wrist assembly, and the three-dimensional design model corresponding to the wrist assembly is divided by finite element to obtain the finite element model corresponding to the wrist assembly; The parts motion transfer relationship, load and boundary conditions of the wrist assembly are defined in the finite element software and applied to the finite element model corresponding to the wrist assembly to obtain the structural model of the wrist assembly.

3. The method according to claim 1, characterized in that The step of performing simulation analysis in the finite element software using the structural model of the wrist assembly and each of the first basic working conditions to obtain the simulation analysis result of the wrist assembly comprises: In the finite element software, each of the first basic working conditions is applied to the structural model of the wrist assembly, and a simulation analysis is performed in combination with the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly to obtain a simulation analysis result of the wrist assembly under each basic working condition; Combining each basic working condition corresponding to the wrist assembly to obtain at least one comprehensive working condition corresponding to the wrist assembly; Each comprehensive working condition corresponding to the wrist assembly is applied to the structural model of the wrist assembly, and a simulation analysis is performed in combination with the mass, inertia, material characteristic parameters and reducer stiffness of the wrist assembly to obtain the simulation analysis results of the wrist assembly under each comprehensive working condition.

4. The method according to claim 1, characterized in that The robotic arm to be evaluated further includes a forearm assembly, and the method further includes: Based on the model and reduction ratio of the reducer used by the forearm assembly, a structural model of the forearm assembly is constructed in the finite element software, and the structural model of the forearm assembly is assembled with the structural model of the wrist assembly to obtain a first structural model; According to the reducer positions of the components of the robot arm to be evaluated and the simulation analysis results of the wrist assembly, a plurality of second basic working conditions are defined in the finite element software; Using the first structural model and each of the second basic working conditions, a simulation analysis is performed in the finite element software to obtain a simulation analysis result of the forearm assembly to evaluate the structural performance of the forearm assembly of the robotic arm to be evaluated.

5. The method according to claim 4, characterized in that The robotic arm to be evaluated further includes an elbow assembly, and the method further includes: Based on the model and reduction ratio of the reducer used in the elbow assembly, a structural model of the elbow assembly is constructed in the finite element software, and the structural model of the elbow assembly is assembled with the first structural model to obtain a second structural model; According to the reducer positions of the components of the robot arm to be evaluated, the simulation analysis results of the wrist assembly and the simulation analysis results of the forearm assembly, a plurality of third basic working conditions are defined in the finite element software; Using the second structural model and each of the third basic working conditions, a simulation analysis is performed in the finite element software to obtain a simulation analysis result of the elbow assembly to evaluate the structural performance of the elbow assembly of the robotic arm to be evaluated.

6. The method according to claim 5, characterized in that The mechanical arm to be evaluated further includes a large arm assembly, and the method further includes: Based on the model and reduction ratio of the reducer used by the boom assembly, a structural model of the boom assembly is constructed in the finite element software, and the structural model of the boom assembly is assembled with the second structural model to obtain a third structural model; Defining a plurality of fourth basic working conditions in the finite element software according to the reducer positions of the components of the robot arm to be evaluated, the simulation analysis results of the wrist assembly, the simulation analysis results of the forearm assembly, and the simulation analysis results of the elbow assembly; Using the third structural model and each of the fourth basic working conditions, simulation analysis is performed in the finite element software to obtain simulation analysis results of the boom assembly to evaluate the structural performance of the boom assembly of the robotic arm to be evaluated.

7. The method according to claim 6, characterized in that The robotic arm to be evaluated further includes a waist assembly, and the method further includes: Based on the model and reduction ratio of the reducer used in the waist assembly, a structural model of the waist assembly is constructed in the finite element software, and the structural model of the waist assembly is assembled with the third structural model to obtain a fourth structural model; According to the reducer positions of the components of the robot arm to be evaluated, the simulation analysis results of the wrist assembly, the simulation analysis results of the forearm assembly, the simulation analysis results of the elbow assembly, and the simulation analysis results of the boom assembly, a plurality of fifth basic working conditions are defined in the finite element software; Using the fourth structural model and each of the fifth basic working conditions, simulation analysis is performed in the finite element software to obtain simulation analysis results of the waist assembly to evaluate the structural performance of the waist assembly of the robotic arm to be evaluated.

8. The method according to claim 7, characterized in that The robot arm to be evaluated further includes a base assembly, and the method further includes: Based on the model and reduction ratio of the reducer used by the base assembly, construct a structural model of the base assembly in the finite element software, and assemble the structural model of the base assembly with the fourth structural model to obtain a fifth structural model; According to the reducer positions of the components of the robot arm to be evaluated, the simulation analysis results of the wrist assembly, the simulation analysis results of the forearm assembly, the simulation analysis results of the elbow assembly, the simulation analysis results of the upper arm assembly, and the simulation analysis structure of the waist assembly, a plurality of sixth basic working conditions are defined in the finite element software; Using the fifth structural model and each of the sixth basic working conditions, simulation analysis is performed in the finite element software to obtain simulation analysis results of the base assembly to evaluate the structural performance of the base assembly of the robotic arm to be evaluated.

9. A mechanical arm structure performance evaluation device, characterized in that: Applied to electronic equipment, where finite element software is deployed, the device comprises: A construction module, for constructing a structural model of the wrist assembly of the robot arm to be evaluated in the finite element software based on the model and reduction ratio of the reducer used by the wrist assembly of the robot arm to be evaluated; A processing module is used to define a plurality of first basic working conditions in the finite element software according to the reducer positions of the components of the robotic arm to be evaluated; and to perform simulation analysis in the finite element software using the structural model of the wrist assembly and each of the first basic working conditions to obtain simulation analysis results of the wrist assembly so as to evaluate the structural performance of the wrist assembly of the robotic arm to be evaluated.

10. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the method for evaluating the structural performance of a robotic arm as described in any one of claims 1-8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for evaluating the structural performance of a robotic arm as described in any one of claims 1 to 8 is implemented.

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