基于柔体动力学分析的平面并联机器人结构优化设计

针对高速高精度机器人的结构柔性问题，提出了一种基于柔体动力学分析的结构参数优化设计方法，并对一种含平行四边形结构的平面并联机器人进行了结构参数优化。采用离散梁模型来仿真机器人的柔性，轴套模型来仿真机器人关节的柔性，建立了参数化的柔体动力学模型。利用动力学仿真软件ADAMS对机器人的动态响应、驱动力矩和固有频率进行了计算，据此对机器人的结构参数进行了优化。最后通过固有频率测试和动态响应实验结果验证了优化设计的有效性和准确性。

Structural optimization design of planar parallel robot based on dynamics analysis of flexible body

Aimed at the structural flexibility problems of high speed and high precision robot,a kind of method for structural parameters optimization design was put forward based on dynamics analysis of flexible-body,and the structural parameters optimization was carried out on a kind of planar parallel robot containing a parallelogram structure.The parameterized flexible-body dynamics model was established by adopting the discrete beam model to simulate the flexibility of robot and by bushing model to simulate the flexibility of robot's joint.Utilizing the dynamics simulative software ADAMS to carry out computations on the dynamic response,driving moment and natural frequency of the robot,in view of the above the optimization was carried out on the structural parameters of the robot.Finally the effectiveness and accuracy of the optimization design were verified by means of the results of test on natural frequency and experiment on dynamic response.