CN104182584A - Structural designing method for robot multiple-speed translation mechanism - Google Patents
Structural designing method for robot multiple-speed translation mechanism Download PDFInfo
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- CN104182584A CN104182584A CN201410422385.0A CN201410422385A CN104182584A CN 104182584 A CN104182584 A CN 104182584A CN 201410422385 A CN201410422385 A CN 201410422385A CN 104182584 A CN104182584 A CN 104182584A
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Abstract
The invention discloses a structural designing method for a robot multiple-speed translation mechanism and belongs to the field of mechanical equipment. The structural designing method includes simulating load borne by a main beam in actual working condition and analyzing to acquire dynamic load; applying the dynamic load onto the main beam, and calculating equivalent static load of the main beam; taking the equivalent static load of the main beam as a boundary condition to adopt a variable density method to perform topological optimizing design on structure of the main beam. By taking the equivalent static load of the main beam of the robot multiple-speed translation mechanism as the boundary condition, optimal material distribution of the main beam is acquired on the basis of the variable density method, and finally a multiple-speed translation mechanism with optimal comprehensive performance is acquired, so that maximum deformation can be reduced while structural weight is reduced, and working requirements on high speed and high accuracy of a robot are met.
Description
Technical field
The invention belongs to plant equipment design field, relate to a kind of construction design method, relate in particular to a kind of construction design method that is applicable to robot speed translation mechanism.
Background technology
Press machine people, as the carrying platform in a kind of automated system, has been widely used in automobile and Aero-Space industry.Robotics is day by day perfect, towards the future development of high speed, high repetitive positioning accuracy and little work space.
But because translational speed is fast, robot speed translation mechanism can produce very large inertial force in high-speed motion, causes parts to deform, and affects the positioning precision of mechanism.Simultaneously, for drive machines people, the weight of speed translation mechanism is additional load, therefore meeting the quality that reduces speed translation mechanism under certain rigidity condition, not only can improve performance accuracy and the productive temp of transfer robot, and can reduce the driving power of robot, reduce energy consumption.
At present, to the most methods for designing that adopt analogies of experience of the design of robot speed translation mechanism.But this method is simple, rely on artificial experience, degree of accuracy is not high, time is long simultaneously, cost is high, be difficult to adapt to quick, the high-precision job requirement of robot, therefore, those skilled in the art is devoted to solve the weight issue of robot translation mechanism, realizes the light-weight design of translation mechanism.
Summary of the invention
In view of this, the present invention, by the actual condition of the girder of dummy robot's speed translation mechanism, obtains the dynamic load of girder, and adopts Equivalent Static load method to calculate the Equivalent Static load of girder.With Equivalent Static load applying on girder, the most optimum materials that obtains girder based on variable density method distributes, and finally obtains a kind of speed translation mechanism with optimal synthesis performance, can be in alleviating construction weight, reduce maximum distortion, met quick, the high-precision job requirement of robot.
For achieving the above object, concrete technical scheme is as follows:
The construction design method of a kind of robot speed translation mechanism is provided, and described robot speed translation mechanism comprises girder, it is characterized in that, described construction design method comprises:
Step 1, simulates described girder suffered load in real operating mode, and analyzes and draw dynamic load;
Step 2, is applied to described dynamic load on described girder, calculates the Equivalent Static load of described girder;
Step 3, taking the Equivalent Static load of described girder as boundary condition, adopts variable density method to carry out topology optimization design to main beam structure.
Preferably, the multi-body Dynamics Model of setting up described speed translation mechanism by Simulation Analysis on Multi-body Dynamics technology in described step 1 is simulated described girder suffered load in real operating mode.
Preferably, in described step 2, by instantaneous response analysis, obtain the displacement field that dynamic load produces, use Equivalent Static load method, calculate Equivalent Static load.
Preferably, the mathematical model of the topology optimization design in described step 3 is as shown in the formula shown in (1):
Minimize U
max
s.t. V≤V
max (1)，
U in formula
maxfor main beam structure maximum strain energy, the volume that V is main beam structure, V
maxfor given main beam structure volume upper limit.
With respect to prior art, technical scheme of the present invention is passed through using the Equivalent Static load of the girder of robot speed translation mechanism as boundary condition, the most optimum materials that obtains girder based on variable density method distributes, finally obtain a kind of speed translation mechanism with optimal synthesis performance, can be in alleviating construction weight, reduce maximum distortion, met quick, the high-precision job requirement of robot.
Brief description of the drawings
The accompanying drawing that forms a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation before the main beam structure of certain model speed translation mechanism in the embodiment of the present invention is optimized;
Fig. 2 is embodiment of the present invention middle girder cell density cloud atlas;
Fig. 3 is main beam structure schematic diagram after optimizing in the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
It should be noted that, in the situation that not conflicting, the feature in embodiment and embodiment in the present invention can combine mutually.
Below with reference to accompanying drawing, embodiments of the invention are done to concrete explaination.
The construction design method of a kind of robot speed translation mechanism of embodiments of the invention, wherein robot speed translation mechanism comprises the girder with symmetrical structure.Construction design method comprises:
Step 1 and 2, simulation girder suffered load in real operating mode, and analyze and draw dynamic load.Dynamic load is applied on girder, uses Equivalent Static load method to determine the Equivalent Static load of girder.
Do not considering under damping condition Equivalent Static load f
eqcan be expressed by following mode:
In formula: M is mass matrix, K is stiffness matrix, and r is external dynamic load vector, and z is displacement vector,
for acceleration, t is time variable, and b is design variable vector.
The embodiment of the present invention, by instantaneous response analysis, obtains the displacement field that dynamic load produces, and uses Equivalent Static load method, calculates Equivalent Static load, sets it as boundary condition and carries out steady-error coefficient optimization.
Step 3, taking the Equivalent Static load of girder as boundary condition, adopts variable density method to carry out topology optimization design to main beam structure.
The present embodiment considers the designing requirement of robot speed translation mechanism girder rapid movement, high precision resetting, taking girder maximum strain energy minimum as optimal design objective function, its structural volume mark is constraint condition, taking the pseudo-density of girder material as design variable, seeks optimum solution.Optimized mathematical model is suc as formula shown in (1):
Minimize U
max
s.t. V≤V
max (1)，
U in formula
maxfor main beam structure maximum strain energy, the volume that V is main beam structure, V
maxfor given main beam structure volume upper limit.
Adopt variable density method to solve optimization problem, optimize structure thereby can obtain girder.
Embodiments of the invention, based on translation mechanism girder high speed, the movement characteristic of heavy duty and the requirement of high precision resetting, use Equivalent Static load method to calculate Equivalent Static load, to obtain the load boundary condition of girder; Taking the girder of speed translation mechanism as optimization object, taking the maximum strain energy minimum of girder as optimization aim, adopt variable density method to carry out topology optimization design to main beam structure, obtain the main beam structure of combination property the best.
Taking certain model transfer robot speed translation mechanism main beam structure optimal design, as example, the present invention will be further described below.
Structural representation before main beam structure is as shown in Figure 1 optimized, analyzes main beam structure in ultimate load position, and analysis result is for comparing with the rear result of optimization.In step 1, in order to simulate girder suffered load in real operating mode, the embodiment of the present invention is set up the multi-body Dynamics Model of speed translation mechanism by Simulation Analysis on Multi-body Dynamics technology.
In step 2, the embodiment of the present invention obtains dynamic load according to multi-body Dynamic Analysis, and this load applying, to girder, is carried out to transient dynamic analysis, uses Equivalent Static load method to calculate Equivalent Static load.
In step 3, the embodiment of the present invention, taking Equivalent Static load as boundary condition, adopts variable density method to carry out topology optimization design to main beam structure.Getting main beam structure is design section, and all the other are Non-design region.Topological optimization mathematical model is as shown in above formula (1).
Solving formula (1) result that is optimized, is the cell density cloud atlas of main beam structure after optimizing as shown in Figure 2, the optimum distribution of material of structure as can be seen from Figure.And finally obtain the topological structure after girder is as shown in Figure 3 optimized.
As mentioned above, the main beam structure optimization before optimizing is as shown in Figure 1 obtained girder optimum structure as shown in Figure 3 by the embodiment of the present invention, and the performance before and after existing optimization is analyzed comparison, and under dangerous working condition, comparative result is as shown in table 1 below.By drawing in table 1, the main beam structure after utilization the present embodiment is optimized, with respect to the structure before optimizing, in having reduced quality, has reduced maximum displacement and stress.
Table 1, main beam structure is optimized front and back performance comparison
In sum, the embodiment of the present invention uses Equivalent Static load method to carry out light-weight design to the main beam structure of transfer robot speed translation mechanism.Verify by exemplary application, ensureing, under the prerequisite of main beam structure performance, to use the method for designing of topological optimization, realized girder loss of weight 8.9%.
Above specific embodiments of the invention be have been described in detail, but it is just as example, the present invention is not restricted to specific embodiment described above.To those skilled in the art, any equivalent modifications that the present invention is carried out and alternative also all among category of the present invention.Therefore, equalization conversion and the amendment done without departing from the spirit and scope of the invention, all should contain within the scope of the invention.
Claims (4)
1. a construction design method for robot speed translation mechanism, described robot speed translation mechanism comprises girder, it is characterized in that, described construction design method comprises:
Step 1, simulates described girder suffered load in real operating mode, and analyzes and draw dynamic load;
Step 2, is applied to described dynamic load on described girder, calculates the Equivalent Static load of described girder;
Step 3, taking the Equivalent Static load of described girder as boundary condition, adopts variable density method to carry out topology optimization design to main beam structure.
2. the construction design method of robot as claimed in claim 1 speed translation mechanism, it is characterized in that, the multi-body Dynamics Model of setting up described speed translation mechanism by Simulation Analysis on Multi-body Dynamics technology in described step 1 is simulated described girder suffered load in real operating mode.
3. the construction design method of robot as claimed in claim 1 speed translation mechanism, is characterized in that, in described step 2, by instantaneous response analysis, obtains the displacement field that dynamic load produces, and uses Equivalent Static load method, calculates Equivalent Static load.
4. the construction design method of robot as claimed in claim 1 speed translation mechanism, is characterized in that, the mathematical model of the topology optimization design in described step 3 is as shown in the formula shown in (1):
Minimize U
max
s.t. V≤V
max (1)，
U in formula
maxfor main beam structure maximum strain energy, the volume that V is main beam structure, V
maxfor given main beam structure volume upper limit.
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Cited By (1)
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| CN107609282A (en) * | 2017-09-18 | 2018-01-19 | 广州汽车集团股份有限公司 | A kind of conceptual design method of body shell |
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| CN102681856A (en) * | 2012-05-31 | 2012-09-19 | 上海发那科机器人有限公司 | System and method used for achieving human-computer interface of robot and based on demonstrator |
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| CN103342140A (en) * | 2013-06-07 | 2013-10-09 | 上海发那科机器人有限公司 | Accompanying tracking system for robot |
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| CN107609282A (en) * | 2017-09-18 | 2018-01-19 | 广州汽车集团股份有限公司 | A kind of conceptual design method of body shell |
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Address after: No. 1500, Fu Lian Road, Baoshan District, Shanghai Patentee after: Shanghai FANUC Robotics Co., Ltd. Address before: No. 1500, Fu Lian Road, Pudong New Area, Shanghai Patentee before: Shanghai FANUC Robotics Co., Ltd. |
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