| 机械臂的多学科设计优化 |
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| 引用本文： | 毋存祥,钱炜. 机械臂的多学科设计优化[J]. 黑龙江电子技术, 2014, 0(8): 108-111 |
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| 作者姓名： | 毋存祥 钱炜 |
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| 作者单位： | 上海理工大学机械工程学院,上海200093 |
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| 摘 要： | 指出多学科设计优化技术在机器人复杂系统设计方面的优势，探索了将其和机器人系统设计相融合的流程方法。利用多学科优化技术对移动读书机器人机械臂系统进行分解和规划，同时阐明了其中的难点和关键技术。将其分解为运动学、静力学、动力学、控制学四个学科并建立相应的模型进行分布式并行设计，优化计算结果表明了多学科设计优化技术应用在机器人设计领域的可行性及有效性。
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| 关 键 词： | 机器人 多学科设计优化 机械臂 并行设计 |
Multi-disciplinary design optimization technology used for the robot arm |
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| WU Cun-xiang,QIAN Wei. Multi-disciplinary design optimization technology used for the robot arm[J]. , 2014, 0(8): 108-111 |
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| Authors: | WU Cun-xiang QIAN Wei |
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| Affiliation: | (School of Mechanical Engineering, University of Shanghai for Science ＆ Technology, Shanghai 200093, China) |
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| Abstract: | This paper points out the superiority of the multi-disciplinary design optimization tecnnotogy（MDO） in the field of the complex designing system for robots and discusses on the application of theMDO in robot design process. It decomposes and plans the problem of multi-disciplinary designoptimization of removable reading robot arm＇ s system, points out its difficulty and key technologies.Building homologous models from four subjects of kinematics, statics, dynamics, cybernetics fordistributed parallel designing and the results proved the effectiveness and the feasibility of multi-disciplinary technical in robot structural design. |
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| Keywords: | robot multi-disciplinary design optimization robot arm concurrent design |
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