Lightweight design method for arm structure of assembly robot

Abstract

A lightweight design method for an arm structure of an assembly robot comprises combining simulation of many-body dynamics and simulation of finite elements to obtain the maximal load condition of stress during a period of motion of an arm, and designing the load condition through topological optimization on a structure to obtain the maximal lightweight design of an arm structure. The lightweight design method for an arm structure of an assembly robot is advantageous in that the load obtained by simulation of many-body dynamics is used as the load of a structural optimal design, so as to raise the accuracy of the structural optimal design; and the speed of motion of an assembly robot can be raised by lightening weights of a large arm a small arm of the assembly robot, so as to raise the assembling efficiency. The arm structure design obtained by the method is high in accuracy and good in optimization.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a lightweight design method for assembling robot arm structures. Background technique [0002] Rapidity and cost are important performance parameters affecting the assembly robot. The weight of the arm structure of the assembly robot has a very important impact on the rapidity, precision and cost of the assembly robot. The greater the weight of the arm structure, the lower the speed of the robot under the same driving capacity, and the greater the driving capacity required under the same speed requirement, it is necessary to choose a motor with a higher output power and a reducer with a higher load capacity , resulting in an increase in cost, weight, volume and energy consumption; [0003] Such as figure 1 An assembly robot is shown, which includes: a base 1 fixed on the ground, a boom 2, a small arm 3, a screw 4 and a main shaft 5, and a motor and a harmonic reducer for driving...

AI Technical Summary

Problems solved by technology

[0004] At present, for the lightweight design method of moving parts, for example, the application number 201010592534.X "PCB CNC drilling and milling machine parts weight reduction optimization design method", which uses the structural topology optimization method to define the variable threshold of topology optimization, topology optimization objectives, Design response constraints, geometric constraints, size constraints, process manufacturing constraints, topology optimization frozen region constraints, etc., get the optimized PCB CNC drilling and milling machine parts, but it does not give the load acquisition method, but directly gives the load Size; Application No. 201410649705.6 "A Lightweight Design Method for the Leg Structure of a Biped Humanoid Robot", which considers two load cases for the optimal design of the leg structure, but does not consider the impact of inertial load on the optimal design of the structure. Therefore, the considered load case may not be the most severe, obviously its design structure is not optimal

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