A method of structure optimization for high-speed and heavy-load robot based on dynamic characteristic analysis

摘要

In this paper, a method of structure optimization for high-speed and heavy-load robot based on dynamic characteristic analysis is presented. Firstly, the flexible coupling dynamics model of the robot is established and modal analysis is carried out. Then the concept of relative sensitivity is presented, by which the optimization variables are determined. According to the operating characteristics of the robot, such as palletizing cycles per hour, terminal repeat positioning accuracy and rated load, the optimization indicators can be proposed, which are the lowest natural frequency, the maximum acceleration and static stiffness, speed integrated characteristics. Combined with work space constraint, a multi-objective optimization model is established, which is solved by NSGA-II genetic algorithm. Finally the optimized results are analyzed and compared, which can prove the validity of the method.