Optimized Design of Dynamic Stiffness of 6-DOF Tandem Robot Based on Response Surface Method

2023 14th International Conference on Mechanical and Intelligent Manufacturing Technologies (ICMIMT) Pub Date : 2023-05-26 DOI:10.1109/ICMIMT59138.2023.10199267

Liangquan Xu, Jianrun Zhang, Cheng Lin, Hao Peng

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Abstract

In order to improve the structural stiffness and vibration frequency of industrial robots, a robot structure optimization method based on multi-objective dimensional optimization method is proposed in this paper. The method firstly establishes the finite element model of the whole robot considering the torsional and overturning stiffness of each joint, corrects the joint stiffness to reduce the error through the modal test alignment method, and obtains the inherent frequency and modal vibration pattern of each order of the robot. Then, based on this model, the sensitivity analysis of the optimized variables is performed, and the stiffness of the rotating seat is the most influential factor on the stiffness of the robot. Finally, the target drive size optimization method is used to optimize the structure size of the turntable. The method was successfully applied to the analysis and optimization of a 220 kg multifunctional robot for handling and welding, and the results verified the usability and effectiveness of the analysis and optimization method.

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基于响应面法的六自由度串联机器人动刚度优化设计

为了提高工业机器人的结构刚度和振动频率，本文提出了一种基于多目标多维优化方法的机器人结构优化方法。该方法首先考虑各关节的扭转刚度和翻转刚度，建立整个机器人的有限元模型，通过模态试验对准法对关节刚度进行校正以减小误差，得到机器人各阶的固有频率和模态振动模式。然后，基于该模型对优化变量进行灵敏度分析，发现旋转座刚度是影响机器人刚度的最大因素。最后，采用目标驱动尺寸优化方法对转台结构尺寸进行优化。将该方法成功应用于220kg多功能搬运焊接机器人的分析与优化，结果验证了该分析与优化方法的可用性和有效性。

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2023 14th International Conference on Mechanical and Intelligent Manufacturing Technologies (ICMIMT)

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