论文部分内容阅读
首先,考虑工业机器人末端振型的变化,基于“转子-扭簧”模型和有限元理论,推导出机器人柔性关节和刚柔耦合杆件部分的动力学模型,探讨关节阻尼与机器人末端振动位移之间的关系,建立关节阻尼的优化设计数学模型;然后,以机器人末端振幅为设计目标,以机器人的驱动关节阻尼为设计变量进行优化;最后,借助ADAMS软件应用该优化模型对刚柔耦合的六自由度串联工业机器人进行优化设计,并对优化结果进行比较分析,验证了关节阻尼抑制末端振动的效果,为工业机器人关节阻尼抑制末端振动提供了理论依据。
First of all, considering the variation of the end vibration modes of industrial robots, the dynamic model of flexible joint and rigid-flexible coupling part is deduced based on the “rotor-torsion spring” model and the finite element theory. The joint damping and the robot end vibration Then the optimal design mathematical model of joint damping is established. Secondly, the end amplitude of the robot is taken as the design objective and the damping of the driven joint of the robot is optimized as the design variable. Finally, with ADAMS software, Six-degree-of-freedom serial industrial robots are optimized, and the optimization results are compared and analyzed to verify the effect of joint damping on the end vibration suppression, which provides a theoretical basis for restraining the end vibration of the industrial robot joint damping.