DESIGN OPTIMIZATION METHOD FOR SERIAL ROBOT STRUCTURE

摘要

Disclosed is a design optimization method for a serial robot structure, including: dividing the structure of a robot into multiple modules according to the number of degrees of freedom and a transmission structure; initially designing each of the modules, i.e. primarily determining the shape, thickness and transmission mode of the module; carrying out finite element analysis for the initially designed robot structure, and optimizing the structure through the requirements of the strength, rigidity and natural frequency of the robot; judging whether each module of the robot structure satisfies the requirement of rigidity, if satisfied, continuing, otherwise redesigning same; after performing complete machine simplification for the robot, carrying out modal analysis; and analyzing the formation and frequency, if there is a place not satisfying the requirements of frequency and formation, redesigning same, and if satisfied, completing the design. The present invention adopts finite element and modal analysis for a robot structure to substitute for the conventional empirical method and simple strength checking method, so as to greatly improve the analysis accuracy. By the finite element and modal analysis for the robot structure, the requirements of strength and rigidity of the robot can be met with the minimum consumption of raw materials and cost.