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本文研究了具有柔性构件的操作机器人最佳复合材料结构参数及最佳构件横断面几何尺寸的确定。导出了矩形空心横断面的复合材料构件的阻尼和抗弯刚度的计算公式。进行了将阻尼取为被最大化的目标函数,刚度等限制条件取为约束方程的优化设计。用空间梁单元的有限元法建立了系统运动微分方程,并用数值积分法求解了该微分方程,求出了操作机器人执行构件端点的动态响应曲线,以显示系统残余振动的消失过程。
In this paper, the structural parameters of the optimal composite robot with flexible components and the determination of the cross-sectional geometric dimensions of the best components are studied. The formulas for calculating the damping and flexural rigidity of composite members with rectangular hollow cross section are derived. The optimal design of the constraint equation is obtained by taking the damping as the objective function and the stiffness as the maximization. The system motion differential equation is established by the finite element method of space beam element, and the differential equation is solved by the numerical integration method. The dynamic response curve of the end point of the manipulator’s actuator is obtained to show the disappearance of the residual vibration of the system.