考虑柔性关节的刚柔耦合机械臂的优化设计

摘要

为了提高刚柔耦合机械臂的运动精度,抑制由柔性关节引起的振动.根据"线性扭簧模型"和有限元法,推导出机械臂柔性关节和杆件的动力学模型,找寻刚柔耦合机械臂关节阻尼参数与末端振动位移的关系.确定关节阻尼取值范围并将其作为设计变量,设计目标为机械臂的末端振幅,进行优化.使用ADAMS对已建立关节阻尼优化设计模型的刚柔耦合机械臂进行优化设计,得到最小振幅时最优阻尼.对比并分析机械臂高速和低速两种工况下的结果,并对机械臂进行附加强迫振动分析.验证了柔性关节对高速和低速机械臂末端运动精度均有不可忽略的影响,为带有柔性关节机械臂抑制振动,提高精度提供理论依据.%In order to improve the movement accuracy of the rigid-flexible coupling arm, the vibration caused by the flexible joint is suppressed. According to the "linear torsion spring model" and the finite ele-ment method,the dynamic model of the flexible joint and the bar of the manipulator is deduced to find the relationship between the joint damping parameters and the end vibration displacement of the rigid flexible coupling robot. Determine the range of joint damping and use it as a design variable,the design goal for the end of the arm amplitude,to optimize. Using ADAMS to optimize the design of rigid and flexible coupling manipulator with established joint damping optimization design model,getting the minimum amplitude when the optimal damping.Compare and analyze the results of high speed and low speed of the manipulator,the arm for additional forced vibration analysis,It is verified that the flexible joints have no influence on the pre-cision of the high speed and low speed manipulator which provides theoretical basis for suppressing vibration and improving accuracy with flexible joint manipulator.