Dynamic Optimization Design Method for High-Speed Serial Industrial Robot

摘要

In this paper, the dynamic model of flexible body and the optimal design model are established, and the first order natural frequency and payload self-weight ratio are optimized as optimization objectives. The dynamic model of industrial robot with both flexible and flexible joints is derived. Based on this model, the geometrical parameters of the design are optimized. With the torsion stiffness of the reducer as the optimization variable, the optimized selection is carried out to ensure that the integrated performance is optimized under the condition that the first-order natural frequency meets the design requirements.