机器人操作器动力学形状优化设计  

DYNAMIC SHAPE OPTIMAL DESIGN OF ROBOT MANIPULATORS

作　　者：吴焱明[1] 柯尊忠[1] 徐业宜[1] 王治森 

机构地区：[1]合肥工业大学机械工程系

出　　处：《合肥工业大学学报（自然科学版）》1996年第4期50-55,共6页Journal of Hefei University of Technology：Natural Science

摘　　要：讨论了机器人操作器的刚性和弹性耦合动力学形状优化设计问题。主要将时间离散化、形状离散化。为此，首先求出各时间点上的动态响应，找出最不利情况，这样动态极值形状优化设计即可用复合形法解决。对末端挠度极小化为目标函数的形状优化设计问题进行了研究，得到了机器人操作器的最优形状。This paper discussed the dynamic shape optimal problem of robot manipulatorsby considering the system's properties coupled with the system's elastic deflectio n. In studying dynamic shape optimization, time was discretized,and dynamic response was obtained at every time and shape point, and the worst case can be found Dynamic shape optimzation for minimizing the end point deflection was studied by using complex shape optimal method. In this paper, the optimal shape of robot manipulators were obtained. This is useful for designing high speed, high accuracy robot manipulators。

关 键 词：机器人操作器 动态模型 形状优化设计 动力学 

分 类 号：TH112.5[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]