基于等效静态载荷方法的高速轻载机器人结构优化设计-机械电子工程专业论文.docxVIP

广东工业大学硕士学位论文的结果在整个的工作过程中满足性能的要求；另一方面可缩短机器人结构优化设计时 广东工业大学硕士学位论文 的结果在整个的工作过程中满足性能的要求；另一方面可缩短机器人结构优化设计时 间，使产品的研发速度加快。 关键词：等效静态载荷；机器人；柔性多体动力学；拓扑优化 II 万方数据 ABSTACTABSTRACT ABSTACT ABSTRACT When robot is in high．speed movement，which will produce large inertia force，lead to the deformation ofthe elastic components，thus impact the accuracy ofpositioning ofthe end point．Therefore，optimizing the construction of robot，it not only lose its weight，but also reduce the inertial impact and improve the accuracy of end point positioning． However,due to the high speed light load robot is mainly caused by the inertia force，the traditional structural optimization method’S also unable to deal with each others coupling component of inertial force．Based on the equivalent static load method(ESLM)can combine nonlinear flexible multi．body dynamics analysis with linear static structure optimization，to achieve the optimization of structural components under dynamic loads and to deal with the component characteristics of inertial force coupling．This paper aims to make dynamics analysis and optimization design of parts by taking a six DOF high speed light load welding robot ofthe Noel Bei company example，Its main content： Firstly,it establishes the D-H coordinate and kinematics equation of the robot and it solves the positive and the inverse kinematic solution of robot．And in the virtual prototype(Adams)the rigid body dynamics model is established，making po int movement ofS”type curve points at the end ofthe driving robot，and the normalization method is used to make the trajectory planning and determine the movement boundary conditions of robot· Then，establishing the rigid．flexible coupling model of this robot by using the analysis soitware Hyper-works MotionView module．Through the analysis of the rigid body model and rigid．flexible coupling model to solve the point at the end of the displacement curve comparison．It proved the robot have certain influence to the flexible deformation the position