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Dynamic optimization of robot arm based on flexible multi-body model

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Abstract

This paper examines the effect mechanism of torsional stiffness on flexible joints and the dynamic optimization of a six Degree-of-freedom industrial robot arm. The design optimization of the robot arm is investigated based on the rotor-torsional spring model and finite element method. The flexible multi-body dynamic model of the robot arm are established by considering the flexible characteristics of arms and joints, and the natural frequencies of a robot arm are calculated to obtain the torsional stiffness of the flexible joints. Natural frequency results gradually increased with joint stiffness improvement. Using the established dynamic model, the topology optimization on the robot arm is carried out by regarding lightweight as design goal and total displacement as constraints. The tare-load ratio and dynamic performance of the optimized robot arm are significantly enhanced compared with the original design model. This research can provide the theoretical basis for the dynamic optimization and upgrade of lightweight robot arm.

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Correspondence to Mingxuan Liang.

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Recommended by Associate Editor Sungsoo Na

Mingxuan Liang received his Ph.D. degree in Mechanical Design and Theory from Northeastern University, China, in 2015. He is a Lecturer in the College of Mechanical and Electrical Engineering in China Jiliang University. Presently, he is particularly interested in vibration control and optimization of robot arms.

Binrui Wang received his Ph.D. degree in Control Science and Engineering from the Northeastern University, China, in 2005. He is a Professor in the College of Mechanical and Electrical Engineering in China Jiliang University. His present interests include humanoid robot and intelligent control.

Tianhong Yan received his Ph.D. degree in Aerospace Engineering and Mechanics from the School of Aeronautics and Astronautics, Harbin Institute of Technology, China, in 1999. His research topics are focused on dynamics and servo control of high-speed and high-precision mechatronics systems in large or complex equipments and autonomous robots.

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Liang, M., Wang, B. & Yan, T. Dynamic optimization of robot arm based on flexible multi-body model. J Mech Sci Technol 31, 3747–3754 (2017). https://doi.org/10.1007/s12206-017-0717-9

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  • DOI: https://doi.org/10.1007/s12206-017-0717-9

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