SIA OpenIR  > 工艺装备与智能机器人研究室
基于正交设计的协作机器人全域结构优化设计
Alternative TitleGlobal Structural Optimization Design of Collaborative Robots Using Orthogonal Design
胡明伟1,2,3; 王洪光1,2; 潘新安1,2
Department工艺装备与智能机器人研究室
Source Publication吉林大学学报(工学版)
ISSN1671-5497
2020
Pages1-10
Contribution Rank1
Funding Organization国家自然科学基金(51405482) ; 中国科学院重点部署项目(KGZD-EW-608-1) ; 国家发改委新一代信息基础设施建设工程和“互联网+”重大工程(2017-210103-73-03-000009) ; 国家自然科学基金重点项目(51535008)
Keyword机械电子工程 正交设计 协作机器人 优化设计 固有频率
Abstract

为解决时变位姿和建模精度对机器人结构优化的影响,本文提出了一种有限元与解析法相结合的机器人实时模态分析方法,能够实时、高效、高精度的获得机器人任意位姿下的固有频率和振型。同时为降低计算量,实现全域结构优化,本文基于正交设计提出了一种以机器人质量与全域一阶固有频率比(M/GF)为优化目标,以机器人结构尺寸为优化变量的全域动态性能结构优化设计方法。优化结果表明优化后的M/GF指标比优化前提高了9.90%,优化后的全域一阶固有频率指标比优化前提高了0.91 Hz。

Other Abstract

A real-time modal analysis(RMA) method of collaborative robots combining the finite element method and analytical method was proposed to dispose of the influence of time-varying configurations and modeling accuracy on structural optimization design. This method could real-time obtain the natural frequencies and mode shapes of robots in any pose with high efficiency and precision. To reduce the calculating amount and realize global structure optimization, based on Orthogonal Design, a global structural optimization design method of collaborative robots was proposed with the structure parameters as optimization variables and the ratio of robot mass to the global first natural frequency index (M/GF) as optimization objective. The M/GF index of SHIR5 robot before and after optimization are calculated, it is 9.90% higher than that before optimization and the global first natural frequency index (GFNFI) increased by 0.91 Hz compared with that before optimization.

Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26178
Collection工艺装备与智能机器人研究室
Corresponding Author王洪光
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院机器人与智能制造创新研究院
3.中国科学院大学
Recommended Citation
GB/T 7714
胡明伟,王洪光,潘新安. 基于正交设计的协作机器人全域结构优化设计[J]. 吉林大学学报(工学版),2020:1-10.
APA 胡明伟,王洪光,&潘新安.(2020).基于正交设计的协作机器人全域结构优化设计.吉林大学学报(工学版),1-10.
MLA 胡明伟,et al."基于正交设计的协作机器人全域结构优化设计".吉林大学学报(工学版) (2020):1-10.
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