WO2013149429A1 - Procédé d'optimisation de conception pour une structure de robot en série - Google Patents

Procédé d'optimisation de conception pour une structure de robot en série Download PDF

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Publication number
WO2013149429A1
WO2013149429A1 PCT/CN2012/076205 CN2012076205W WO2013149429A1 WO 2013149429 A1 WO2013149429 A1 WO 2013149429A1 CN 2012076205 W CN2012076205 W CN 2012076205W WO 2013149429 A1 WO2013149429 A1 WO 2013149429A1
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WO
WIPO (PCT)
Prior art keywords
robot
design
finite element
analysis
frequency
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Application number
PCT/CN2012/076205
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English (en)
Chinese (zh)
Inventor
王太勇
王润
刘振忠
丁彦玉
邵明堃
Original Assignee
天津大学
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Application filed by 天津大学 filed Critical 天津大学
Publication of WO2013149429A1 publication Critical patent/WO2013149429A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2113/00—Details relating to the application field
    • G06F2113/26—Composites

Definitions

  • the invention relates to a structural design of a robot.
  • it relates to a structural optimization design method for tandem robots using finite element and modal analysis robot structures.
  • the current robot structure optimization mainly has the following problems:
  • the technical problem to be solved by the present invention is to provide an efficient and feasible serial structure design optimization method combining finite element analysis and modal analysis.
  • a serial robot structure design optimization method comprising the following steps: (1) dividing the structure of the robot into a plurality of modules according to the degree of freedom and the transmission structure;
  • step (3) determine whether the respective modules of the robot structure satisfy the requirement of rigidity, if the direct entry step (6) is satisfied, if not, proceed to step (5) for redesign;
  • step (3) if there is a place where only partial modification is needed, the design is returned to step (3) and then analyzed again using the finite element software simulation; if there is a need for the overall modification, return to step (2);
  • step (7) Analyze the array and frequency. If there is a requirement that does not meet the frequency and formation requirements, return to step (5) for redesign. If it is satisfied, the design is completed.
  • the plurality of modules in the step (1) include: a base, a base, a turntable, a swing arm, an arm and a joint top.
  • step (3) includes the following three steps:
  • step b) Introduce the angular velocity change value obtained in step a) into the simulation software motion, and set the constraints, contact and gravity in the simulation software motion to simulate the realistic environment, thereby generating the force of each component during the working process;
  • the modal analysis is performed.
  • the frequency example is generated in the finite element software simulation, and the natural frequency and formation of the robot are obtained, and the robot structure is obtained from the formation and the natural frequency. Requires the need for improvement and redesign.
  • the serial robot structural design optimization method of the invention replaces the traditional empirical method and the simple strength checking method by using the finite element and modal analysis robot structure, thereby greatly improving the analysis accuracy.
  • the invention first optimizes the various components of the robot to achieve the strength requirement at a minimum cost, and then performs modal analysis on the whole machine, and the rigidity of each transmission joint of the robot can be seen through the formation. This not only achieves the strength of the various components of the robot structure, but also meets the stiffness requirements of the transmission joints, so that the robot structure is optimized.
  • the invention achieves the strength and rigidity requirements of the robot by finite element and modal analysis of the robot structure, minimum consumption of raw materials and costs.
  • FIG. 1 is a schematic diagram and a flow chart for optimizing a structural design of a serial robot according to the present invention
  • Figure 2 is an effect diagram of analyzing the stress results by the method of the present invention
  • 3 is an effect diagram of analyzing a robot's first six-order modal array obtained by the method of the present invention, wherein (a), (b), (c), (d), (e), (f) respectively correspond to the robot front 6th-order formation.
  • the method for optimizing the structural design of the serial robot of the present invention comprises the following steps:
  • the structure of the robot is divided into multiple modules according to the degree of freedom and the transmission structure, including six modules: base, base, turntable, swing arm, arm and joint top;
  • step (3) Perform a finite element analysis on the robot structure of the first design in step (2), and optimize the structure by the requirements of the strength, rigidity and natural frequency of the robot; the finite element analysis described above includes the following three steps:
  • step b) Introduce the angular velocity change value obtained in step a) into the simulation software motion, and set the constraints, contact and gravity in the simulation software motion to simulate the real environment, so as to generate the force of each component during the working process;
  • step (3) determine whether the respective modules of the robot structure satisfy the requirement of rigidity, if the direct entry step (6) is satisfied, if not, proceed to step (5) for redesign;
  • step (3) is returned again using the finite element software simulation; if there is a need for the overall modification, return to step (2);
  • the frequency example is generated in the finite element software simulation, and the natural frequency and formation of the robot are obtained. From the formation and the natural frequency, the robot structure needs to be improved. Part of the redesign.
  • step (7) Analyze the array and frequency. If there is a requirement that does not meet the frequency and formation requirements, return to step (5) for redesign. If it is satisfied, the design is completed.
  • the robot structure is divided into six modules: base, base, turntable, swing arm, arm and joint top. Perform the initial design of the module structure, initially determine the shape, thickness and transmission of each module Way of moving.
  • the motion simulation software after selecting the motion example, add six motors of the six-degree-of-freedom series robot, set the rotation direction, and use the interpolation method to import the angular velocity values planned by matlab using the interpolation method to set the gravitational value of the whole environment. And direction to simulate the gravity field in the real environment, adding contact constraints to avoid the collision of robot parts during the movement.
  • the force of each component can be listed as a chart. Table 1 below shows the force of the main components of the robot measured by simulation.
  • the finite element analysis is performed on the six main components. Taking the turntable as an example, the constraints and the direction of the added force are defined according to the actual situation. Draw a grid to add mesh constraints in local areas.
  • Figure 2 is an effect diagram of the analysis of the stress results. From the figure, it can be seen that the stress at the upper edge of the ear is the maximum (605800. 4N/M ⁇ 2). Exceeding the material strength, it can be increased by thickening and reinforcement. Strength, while reducing the thickness at a safer place to save material. The other components are optimized in the same way.
  • Table 2 Grid parameters Since the actual analysis object is infinite dimensional, its mode has infinite order, but only the first few modes are dominant for the motion, so the first few modes are calculated according to the needs.
  • the results of the frequency analysis are shown in Table 3 below, and the arrays of the first 6 stages of the robot correspond to the a to f diagrams in Fig. 3, respectively.
  • Table 3 The first 6 natural frequencies of the robot

Abstract

L'invention concerne un procédé d'optimisation de conception pour une structure robotique en série, comprenant les étapes suivantes : division de la structure d'un robot en une pluralité de modules selon le nombre de degrés de liberté et une structure de transmission ; conception initiale de chacun des modules, c'est-à-dire principalement déterminer la forme, l'épaisseur et le mode de transmission du module ; réalisation d'une analyse par éléments finis de la structure de robot initialement conçue et optimisation de la structure à travers les exigences de résistance, de rigidité et de fréquence naturelle du robot ; détermination si chaque module de la structure du robot satisfait l'exigence de rigidité, et si c'est le cas, continuation, sinon nouvelle conception de celle-ci ; après la mise en oeuvre d'une simplification complète de la machine pour le robot, mise en oeuvre d'une analyse modale ; et analyse de la formation et de la fréquence, s'il existe un endroit ne satisfaisant pas les exigences de fréquence et de formation, nouvelle conception de celle-ci, et, si tel est le cas, terminer la conception. La présente invention adopte une analyse par éléments finis et une analyse modale pour une structure de robot pour remplacer la méthode empirique conventionnelle et la méthode de simple vérification de la résistance, de façon à améliorer nettement la précision d'analyse. Par l'analyse modale et par éléments finis de la structure du robot pour la structure du robot, les exigences de résistance et de rigidité du robot peuvent être satisfaites avec une consommation minimale de matières premières et une réduction des coûts.
PCT/CN2012/076205 2012-04-05 2012-05-29 Procédé d'optimisation de conception pour une structure de robot en série WO2013149429A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN2012100983422A CN102637228A (zh) 2012-04-05 2012-04-05 串联机器人结构设计优化方法
CN201210098342.2 2012-04-05

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WO2013149429A1 true WO2013149429A1 (fr) 2013-10-10

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CN103049621A (zh) * 2013-01-14 2013-04-17 合肥工业大学 基于triz的可拆卸联接结构的设计方法
CN109800443B (zh) * 2017-11-16 2023-08-22 常州市武进区半导体照明应用技术研究院 一种基于有限元仿真优化的结果提取与可视化修改方法
CN108393928B (zh) * 2018-01-26 2020-06-30 南京理工大学 柔性机器人机械臂接触碰撞的多刚体-有限元混合分析方法
CN110580363B (zh) * 2018-06-07 2022-11-22 中国科学院沈阳自动化研究所 一种搅拌摩擦焊机器人底座结构的拓扑优化设计方法
CN112949104B (zh) * 2019-11-26 2023-07-25 中国科学院沈阳自动化研究所 一种协作机器人实时模态分析方法
CN113204222A (zh) * 2021-05-12 2021-08-03 珠海格力智能装备有限公司 工业机器人的性能参数获取方法及装置

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