细长机械臂的刚度灵敏度分析与参数优化

针对细长机械臂的结构优化问题,提出了一种基于刚度灵敏度分析的参数优化方法.以三自由度固体火箭发动机内壁打磨机器人为例,首先给出了系统结构模型并建立了机械臂的刚度模型;其次,针对机械臂上7个关键部位的壁厚对弯曲刚度的影响进行了灵敏度分析,确定出对机械臂刚度敏感的4个部位壁厚变量;最后,以该4个壁厚变量为设计变量进行优化设计,得出了最优方案.仿真结果表明,经过参数优化后的机械臂刚度提高7.04%.该研究结果为此类机械臂的结构优化问题奠定了理论基础.

Stiffness Sensitivity Analysis and Parameter Optimization of Slender Manipulator

A parameter optimization method based on stiffness sensitivity analysis was proposed for the structural optimization of slender manipulator.Taking a 3-DOF inner-wall grinding robot of the solid-propellant rocket engines as an example,both the structural model and the stiffness model are established for the manipulator.Sensitivity analysis of the effect of the wall thickness on the bend stiffness is then performed for seven major parts.According to the results,four thickness variables which are sensitive to the stiffness are found out.With the four variables as the design variables,final optimization scheme is obtained after optimizing the manipulator structural parameters.The results show that manipulator stiffness is improved 7.04% after parameter optimization.This work lays a theoretical foundation for the structural optimization for such manipulators.