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工业机器人的手部是最重要的执行机构,手部笨重会导致其动态性能下降,因此其手部轻量化是提高机器人性能的重要手段之一。文中将单关节式机器人手部连杆的质量作为目标函数,通过分析其应力约束及几何约束条件,建立手部连杆质量的最优化模型,并通过Matlab求取了最优解。优化结果表明,连杆的质量较小,负载质量与连杆质量的比值较大,可使机器人手部轻量化,并提高手部灵活性和材料利用率。
Industrial robot’s hand is the most important actuator, heavy hand will lead to the decline of its dynamic performance, so its lightweight hand is one of the important means to improve robot performance. In this paper, the quality of the single articulated robot’s hand link is taken as the objective function. By analyzing the stress constraints and the geometric constraints, an optimization model of hand link quality is established and the optimal solution is obtained by Matlab. The optimization results show that the quality of the connecting rod is small and the ratio of the load mass to the connecting rod mass is large, which can reduce the weight of the robot hand and improve hand flexibility and material utilization.