摘要
为降低机械臂进行地面力学实验时的成本,真实地反映机械臂的力学性能,提出一种机械臂等效力学特性的设计方法,并对机械臂力学模拟件的参数进行优化。根据机械臂的结构原理,对机械臂关节的轴承刚度、扭转刚度进行等效设计,通过目标达到法对机械臂力学模拟件的参数进行优化,将力学模拟件与机械臂各质量模块的质量、质心坐标、质心各方向转动惯量等关键参数进行对比并进行实验验证。结果表明,力学模拟件与机械臂各关节模块力学参数基本一致,力学模拟件能够满足实验要求,可降低力学环境实验成本。
A design method for equivalent mechanical character of manipulator is put forward to cut down ground mechanical experiment cost of manipulator and reflect its mechanical character more veritably. Furthermore, the parameters of mechanical analogue element of manipulator are optimized. Axletree rigidity and joint torsion rigidity are equivalently designed on the basis of manipulator structure principle. The parameters of mechanical analogue element of manipulator are optimized through objective obtained method. The comparison between mechanical analogue element and mass, centroidal coordinate, moment of inertia of centroid on each direction and other critical parameters of each mass module of the manipulator is made. The result shows that mechanical parameters between mechanical analogue element and each joint module are almost the same. The mechanical analogue element can satisfy experimental demand, thus reduceing the experimental cost of mechanical circumstance.
出处
《南京航空航天大学学报》
EI
CAS
CSCD
北大核心
2012年第4期532-537,共6页
Journal of Nanjing University of Aeronautics & Astronautics
基金
航天创新基金(CAST2009)资助项目
关键词
机械臂
力学模拟件
多目标优化
序列二次规划法
manipulator
mechanical analogue element
multi-objective optimization
successive quadratic programming
