机器人机构设计中英文对照外文翻译文献
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Instiபைடு நூலகம்ute of Printing and Packing Engineering, Xi'an University of Technology
Abstract
In optimal design for robot structures, design modelsneed to he modified and computed repeatedly. Becausemodifying usually can not automaticallyberun, itconsumes a lot of time.Thispaper gives a method thatuses APDL language of ANSYS5.5software togenerate an optimal control program, which mikeoptimal procedure run automatically and optimalefficiency be improved.
A lot of methods are used in optimization design ofstructure. Finite element method is a much effectivemethod. In general, modeling and modifying are manual,whichisfeasible when model is simple. When modeliscomplicated, optimization timeislonger. In the longeroptimization time, calculation time is usually very little,a majorityoftime is used for modeling and modifying.It is key of improving efficiency of structureoptimization how to reduce modeling and modifyingtime.
APDL language is an interactive development tool,which is based on ANSYS and is offered to programusers. APDL language has typical function of somelarge computer languages. For example, parameterdefinition similar toconstant and variable definition,branch and loop control, and macro call similartofunction and subroutine call, etc. Besides these, itpossessespowerful capability of mathematicalcalculation. The capability of mathematical calculationincludes arithmetic calculation, comparison, rounding,and trigonometric function, exponential function andhyperbola function of standard FORTRAN language, etc.By means of APDL language, the data can be read andthen calculated, whichisin database of ANSYSprogram, and running processof ANSYS program canbe controlled.
机器人机构设计中英文对照外文翻译文献文档含英文原文和中文翻译femoptimizationforrobotstructurewangshijunzhaojinjuandepartmentofmechanicalengineeringxianuniversityoftechnologyshaanxiprovincepeoplesrepublicofchinainstituteofprintingandpackingengineeringxianuniversityoftechnologyabstractinoptimaldesignforrobotstructuresdesignmodelsneedtohemodifiedandcomputedrepeatedly
1）Introduction
Industrial robot is a kind of machine, which is controlledby computers. Because efficiency and maneuverabilityare higher than traditional machines, industrial robot isused extensively in industry. For thesakeof efficiencyand maneuverability, reducing mass and increasingstiffness is more important than traditional machines,instructure design of industrial robot.
机器人机构设计中英文对照外文翻译文献
(
FEM Optimization for Robot Structure
Wang Shijun, Zhao Jinjuan*
Department of Mechanical Engineering, Xi'anUniversity of Technology
Shaanxi Province, People's Republic of China
To the questions presented above, the general solution isto change the location of the top beam many times,compare the results and eventually find a properposition, The model will be modified according to thelast calculating result each time. It is difficult to avoidmistakes if the iterative processiscontrolled manuallyand the iterative time is too long. The outer wall andinner rib shapes of the top beam will be changed afterthe model is modified. To find the appropriate locationof top beam, the model needs to be modifiedrepetitiously.
Fig. 1 shows the main framework of a parallel robot withthree bars. When the length of three bars are changed,conjunct end of three bars can follow a given track,where robot handisinstalled. Coreof top beamistriangle, owing to three bars used inthedesign,whichisshowed in Fig.2. Use of three bars makes top beamnonsymmetrical along the plane that is defined by twocolumns. According to a qualitative analysis from Fig.1,Stiffness values along z-axis are different at three jointlocations on the top beam and stiffness at the locationbetween bar 1 and top beam is lowest, which isconfirmed by computing results of finite element, too.According to design goal, stiffness difference at threejoint locations must he within a given tolerance.Inconsistent of stiffness will have influence on themotion accuracy of the manipulator under high load,soit is necessary to find the accurate location of top beamalong x-axis.
Fig.1Solution of Original Design
This paper gives an optimization solution to the positionoptimization question of the top beam by APDLlanguage of ANSYS program. After the analysis modelfirst founded, the optimization control programcan beformed by means of modeling instruction in the log file.The later iterative optimization process can be finishedby the optimization control program and do not needmanual control. The time spent in modifying the modelcan be decreased to the ignorable extent. The efficiencyof the optimization process is greatly improved.
The core of the top beam is three joints anda hole withspecial purpose, which can not be changed. The otherparts of the beam may be changed if needed. For theconvenience of modeling, the core of the beam isformed into one component. In the process ofoptimization, only the core position of beamalong xaxisis changed, that is to say, shape of beam core is notchanged. It shouldbe noticed that, in the rest of beam,only shape is changed but the topology is not changedand which can automaticallybe performed by thecontrol program.
2）Constructionof model foranalysis
The structure shown in Fig.1consists of three parts: twocolumns, one beam and three driving bars. The columnsand beam are joined by thebolts on the first horizontalrib located on top of the columnsasshown in Fig.1.Because the driving bars are substituted by equivalentforces on thejoint positions, their structure is ignored inthe model.
Abstract
In optimal design for robot structures, design modelsneed to he modified and computed repeatedly. Becausemodifying usually can not automaticallyberun, itconsumes a lot of time.Thispaper gives a method thatuses APDL language of ANSYS5.5software togenerate an optimal control program, which mikeoptimal procedure run automatically and optimalefficiency be improved.
A lot of methods are used in optimization design ofstructure. Finite element method is a much effectivemethod. In general, modeling and modifying are manual,whichisfeasible when model is simple. When modeliscomplicated, optimization timeislonger. In the longeroptimization time, calculation time is usually very little,a majorityoftime is used for modeling and modifying.It is key of improving efficiency of structureoptimization how to reduce modeling and modifyingtime.
APDL language is an interactive development tool,which is based on ANSYS and is offered to programusers. APDL language has typical function of somelarge computer languages. For example, parameterdefinition similar toconstant and variable definition,branch and loop control, and macro call similartofunction and subroutine call, etc. Besides these, itpossessespowerful capability of mathematicalcalculation. The capability of mathematical calculationincludes arithmetic calculation, comparison, rounding,and trigonometric function, exponential function andhyperbola function of standard FORTRAN language, etc.By means of APDL language, the data can be read andthen calculated, whichisin database of ANSYSprogram, and running processof ANSYS program canbe controlled.
机器人机构设计中英文对照外文翻译文献文档含英文原文和中文翻译femoptimizationforrobotstructurewangshijunzhaojinjuandepartmentofmechanicalengineeringxianuniversityoftechnologyshaanxiprovincepeoplesrepublicofchinainstituteofprintingandpackingengineeringxianuniversityoftechnologyabstractinoptimaldesignforrobotstructuresdesignmodelsneedtohemodifiedandcomputedrepeatedly
1）Introduction
Industrial robot is a kind of machine, which is controlledby computers. Because efficiency and maneuverabilityare higher than traditional machines, industrial robot isused extensively in industry. For thesakeof efficiencyand maneuverability, reducing mass and increasingstiffness is more important than traditional machines,instructure design of industrial robot.
机器人机构设计中英文对照外文翻译文献
(
FEM Optimization for Robot Structure
Wang Shijun, Zhao Jinjuan*
Department of Mechanical Engineering, Xi'anUniversity of Technology
Shaanxi Province, People's Republic of China
To the questions presented above, the general solution isto change the location of the top beam many times,compare the results and eventually find a properposition, The model will be modified according to thelast calculating result each time. It is difficult to avoidmistakes if the iterative processiscontrolled manuallyand the iterative time is too long. The outer wall andinner rib shapes of the top beam will be changed afterthe model is modified. To find the appropriate locationof top beam, the model needs to be modifiedrepetitiously.
Fig. 1 shows the main framework of a parallel robot withthree bars. When the length of three bars are changed,conjunct end of three bars can follow a given track,where robot handisinstalled. Coreof top beamistriangle, owing to three bars used inthedesign,whichisshowed in Fig.2. Use of three bars makes top beamnonsymmetrical along the plane that is defined by twocolumns. According to a qualitative analysis from Fig.1,Stiffness values along z-axis are different at three jointlocations on the top beam and stiffness at the locationbetween bar 1 and top beam is lowest, which isconfirmed by computing results of finite element, too.According to design goal, stiffness difference at threejoint locations must he within a given tolerance.Inconsistent of stiffness will have influence on themotion accuracy of the manipulator under high load,soit is necessary to find the accurate location of top beamalong x-axis.
Fig.1Solution of Original Design
This paper gives an optimization solution to the positionoptimization question of the top beam by APDLlanguage of ANSYS program. After the analysis modelfirst founded, the optimization control programcan beformed by means of modeling instruction in the log file.The later iterative optimization process can be finishedby the optimization control program and do not needmanual control. The time spent in modifying the modelcan be decreased to the ignorable extent. The efficiencyof the optimization process is greatly improved.
The core of the top beam is three joints anda hole withspecial purpose, which can not be changed. The otherparts of the beam may be changed if needed. For theconvenience of modeling, the core of the beam isformed into one component. In the process ofoptimization, only the core position of beamalong xaxisis changed, that is to say, shape of beam core is notchanged. It shouldbe noticed that, in the rest of beam,only shape is changed but the topology is not changedand which can automaticallybe performed by thecontrol program.
2）Constructionof model foranalysis
The structure shown in Fig.1consists of three parts: twocolumns, one beam and three driving bars. The columnsand beam are joined by thebolts on the first horizontalrib located on top of the columnsasshown in Fig.1.Because the driving bars are substituted by equivalentforces on thejoint positions, their structure is ignored inthe model.