Global structural optimization design of collaborative robots using orthogonal design

被引：0
|
作者：
Hu M.-W. [1 ,2 ,3 ]
Wang H.-G. [1 ,2 ]
Pan X.-A. [1 ,2 ]
机构：
[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang
[2] Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang
[3] University of Chinese Academy of Sciences, Beijing
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2021年 / 51卷 / 01期
关键词：
Collaborative robots; Mechatronic engineering; Natural frequency; Orthogonal design;
D O I：
10.13229/j.cnki.jdxbgxb20190838
中图分类号：
学科分类号：
摘要：
To dispose of the influence of time-varying configurations and modeling accuracy on robot structural optimization, a Real-time Modal Analysis (RMA) method for collaborative robots was propose, which combines the finite element method and analytical method. 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 indexes of SHIR5 robot before and after optimization are calculated. The index after optimization is 9.90% higher than that before optimization, and the global first natural frequency index (GFNFI) is increased by 0.91Hz compared with that before optimization. © 2021, Jilin University Press. All right reserved.
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页码：370 / 378
页数：8
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