串联工业机器人机械臂的模块化组合式设计方法研究

针对传统机械臂设计方法存在灵活性低、能量消耗大且刚性差的问题,提出一种新的串联工业机器人机械臂模块化组合式设计方法。首先,设定不同模块局部坐标系,通过结构体数组方式对数据库进行存储。通过受力分析构建关节受力模型,选择关节部件选型;其次,利用装配数组生成方法将选择好的关节部件依据模块化组合式设计理念,设计成两件组件式;并分析机械臂工作空间。最后实验结果表明,采用所提方法设计的机械臂各模块输出力矩均符合设计要求,机械臂性能良好,不仅灵活性高、能量消耗低;而且具有良好的刚性。

Modular combined design method of mechanical arm of serial industrial robot

Aiming at the problems of low flexibility, large energy consumption and poor rigidity in the traditional design method of mechanical arm, a new modular modular design method for serial industrial robot manipulator is proposed. The local coordinate system of different modules is set up and the database is stored in the way of structural body array. The joint force model is constructed by force analysis and the selection of joint components is carried out. Secondly, by using assembly array generation method, the selected joint parts are designed into two components according to the modular design concept, and the workspace of the manipulator is analyzed. Finally, the experimental results show that. The output Force of each Module of the manipulator designed by the proposed method The mechanical arm has good performance, high flexibility, low energy consumption and good rigidity.