一种机器人大臂结构的优化设计

THE OPTIMUM DESIGN ON A ROBOT ARM’S STRUCTURE

摘要: 本文对一种井下喷浆机器人大臂的结构尺寸进行了优化设计．优化的结果可使大臂的前端沿一条近似的铅垂线运动．其工作的最大压力角和起落高度都满足了设计要求，同时兼顾了使关键结构件尺寸最小的原则．最终对优化结果进行了计算机图形与数据的动态仿真检验，结果是令人满意的．

Abstract: Being optimum design on the structure and dimensions of underground shotcrete robot's arm,the following results are obtained.One end of the arm moves along the approxmative vertical line and maximum working press angle and height canall meet the design demands,simultaneously,the dimensions of key parts keep minimum.At last the moving process of the optimum design arm is simulated and display in form of graphic and data respectively on the computer,the results of simulation are satisfied.