一重载高速机械臂的结构与控制同时设计

拟订了机械臂的工作原理，建立了机械臂的受控动力学方程，运用优化算法设计了PD控制器的增益，计算了机械臂在不同角度下的刚体动力学响应。为了确定合理的机械臂截面尺寸，运用有限元法建立了机械臂的弹性动力学方程，求解了不同截面尺寸下的机械臂弹性动力响应，评价了机械臂的弹性振动。实践证明，所确定的机械和控制设计方案满足设计要求。

Simultaneous design of structure and control for a heavy loaded and high speed mechanical arm

The working principle of mechanical arm was drew up, the dynamics equation of mechanical arm being controlled was established, the gain of PD controller was designed by the use of optimized algorithm, and the rigid body dynamics response of mechanical arm under different angles was calculated. In order to determine reasonable dimensions of mechanical arm, the elastic dynamics equation of mechanical arm was established by applying the method of finite element, the elastic dynamic response of mechanical arm under different sectional dimensions was solved, and the elastic vibration of mechanical arm was evaluated. It is verified through practice that the designing scheme of mechanical structure and control satisfies the requirement of design.