机械手臂结构优化设计  

Optimum structure design of mechanical arm

作　　者：高微[1] 杨中平[1] 赵荣飞[1] 薛娟萍[1] 

机构地区：[1]西北农林科技大学,杨凌712100

出　　处：《机械设计与制造》2006年第1期13-15,共3页Machinery Design & Manufacture

摘　　要：机械手臂的设计是目前机器人科学研究的一个热点。这里考虑手臂的抓重、材料和运动速度,对其进行优化设计。建立了优化设计的数学模型,使用MATLAB软件分析目标函数的性态并设计变量的可行域,求得机械手臂最优尺寸。在满足条件的情况下,使手臂质量最小,证明了该设计可以满足预设动作要求。The design of mechanical arm is a hot point on automaton research at present. This paper make optimized design of arm based on its grasping weight, material and speed of movement and set up a mathematical model of the optimum structure design. The optimal sizes of the arm are obtained by analyzing character of function diagram and designing feasible region of variable by using the MATLAB software. In case of meeting the given condition, make arm quality minimum, thus proved that this design could satisfy the requirements of the fore- set movement.

关 键 词：机械手臂 优化设计 强度条件 刚度条件 MATLAB 软件 

分 类 号：TH122[机械工程—机械设计及理论]