重载机器人横梁结构静动态特性分析与优化

王进,王向坤,扶建辉,陆国栋,金超超,陈燕智

Static and dynamic characteristic analysis and structure optimization for crossbeam structure of heavy-duty truss robot

Jin WANG,Xiang-kun WANG,Jian-hui FU,Guo-dong LU,Chao-chao JIN,Yan-zhi CHEN

表 10 CCD和OSF实验设计的频率、变形量与质量优化结果

Tab.10 Optimization results of frequency, deformation, mass of CCD and OSF experiment design

方案 CCD OSF f/Hz vf/% d/μm vd/% m/kg vm/% f/Hz vf/% d/μm vd/% m/kg vm/% 1 44.72 −8.08 476.10 −16.03 1234.70 −0.11 42.45 −12.74 458.56 −19.13 1234.32 −0.14 2 44.34 −8.86 476.32 −16.00 1225.20 −0.87 41.13 −15.46 459.67 −18.93 1233.54 −0.20 3 44.61 −8.30 476.50 −15.96 1232.71 −0.27 42.09 −13.48 462.59 −18.41 1217.82 −1.47 4 44.70 −8.12 476.60 −15.94 1227.28 −0.71 41.74 −14.20 463.84 −18.20 1219.58 −1.33 5 44.59 −8.35 476.70 −15.93 1231.95 −0.33 41.74 −14.20 464.20 −18.13 1219.42 −1.34 原始 48.65 0.00 567.00 0.00 1236.00 0.00 48.65 0.00 567.00 0.00 1236.00 0.00