复合材料轻量化机器人结构设计及优化

STRUCTURAL DESIGN AND OPTIMIZATION OF LIGHTWEIGHT ROBOT WITH COMPOSITES

李辉

11930224

硕士

材料工程

周利民

2021-05-23

2021-06-15

南方科技大学

深圳

机器人作为智能制造的核心对象，在小批量定制、个性化制造以及柔性制造领域受到越来越多的关注。作为集材料、机械和控制于一体的机电一体化设备，机器人正在向轻量化、智能化、定制化与人机协作等方向发展。复合材料作为一种轻量化、智能化的新型材料，在机器人领域已经受到越来越多的应用。在机器人领域，机器人运动学与机器人动力学等都可以用旋量理论等数学理论描述，在控制领域也有一套基于旋量理论的机器人控制方法。复合材料的研究多数集中在其参数以及性能之间的关系，大多采用仿真与测试相结合的方式，而对复合材料的力学模型关注度较低。本文主要目的是解决复合材料力学模型应用到机器人领域的难题，并对基于旋量理论表达的复合材料力学解析模型和机器人系统力学解析模型进行验证。根据市场调研与产品对比后提出的设计参数，设计出可用于测试的原型机。在管状复合材料模型中，对实验测得的静态变形结果、旋量理论计算结果和有限元软件仿真结果进行交叉对比，以证明使用旋量理论得到的管状复合材料力学模型是正确的。然后对设计的原型机进行静态变形结果、旋量理论计算结果的对比验证，以证明可以用旋量理论表述复合材料轻量化机器人系统的力学模型。在验证系统力学模型的正确性后，将机器人所受外力以及机器人重量等当作约束条件，对复合材料的管状碳纤维机械臂的铺成角度以及长度等参数进行优化，以得到适用与机器人受力情况下最优的管状碳纤维机械臂的制造参数。

As the core object of intelligent manufacturing, robots have received more and moreattention in the fields of small batch customization, personalized manufacturing and flexiblemanufacturing. As a mechatronics device integrating materials, machinery and control,robots are developing in the direction of lightweight, intelligent, customized, andhumanmachinecollaboration. As a new lightweight and intelligent material, compositeshave been used more and more in the field of robotics.In the field of robotics, robot kinematics and robot dynamics can be described bymathematical theories such as screw theory. In the field of control, there is also a set ofrobot control methods based on screw theory. The research of composites mostly focuseson the relationship between their parameters and properties, and most of them use themethod of combining simulation and testing, and the degree of attention to the mechanicalmodel of composite materials is relatively low.The main purpose of this paper is to solve the problem of applying composites mechanicsmodel to the robot field, and to verify the composite material mechanics analyticalmodel and robot system mechanics analytical model based on screw theory expression.According to the design parameters proposed after market research and product comparison,a prototype machine that can be used for testing is designed. In the tubular compositesmodel, the experimentally measured static deformation results, the screw theory calculationresults and the finite element software simulation results are crosscomparedto provethat the tubular composite material mechanical model obtained by using the screw theoryis correct. Then, the static deformation results and the screw theory calculation results ofthe designed prototype are compared and verified to prove that the screw theory can beused to express the mechanical model of the composite lightweight robot system. Afterverifying the correctness of the system mechanics model, taking the external force andthe weight of the robot as constraints, and optimizing the laying angle and length of thecomposites tubular carbon fiber manipulator, it can be suitable for the robot. The optimalmanufacturing parameters of the tubular carbon fiber manipulator under the force statewill be got.

复合材料 机器人 轻量化 旋量理论 设计优化

composites robot lightweight screw theory design optimization

中文

独立培养

南方科技大学

李辉. 复合材料轻量化机器人结构设计及优化[D]. 深圳. 南方科技大学,2021.