| Optimization Design |
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| Dynamic characteristic modeling and layout optimization of industrial robot cables |
Xiang LI1( ),Yourui TAO1,Jia WANG2,Yang ZHANG3,Chenghao YANG1() |
1.School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China
2.School of Electrical Engineering, Hebei University of Technology, Tianjin 300401, China
3.Nanjing Estun Automation Co. , Ltd. , Nanjing 211100, China |
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Abstract The deformation characteristics of industrial robot cables are one of the main factors influencing the service lifespan of cables. In order to describe the movement pattern of the cables and mitigate the impact of cable routing on the lifespan of cables, a flexible cable modeling method based on the spring-damper chain equivalent was proposed. The cable was divided through linear springs, linear dampers, torsional springs and torsional dampers, achieving the dynamics description of its particles. And based on the Newton method, the force analysis was conducted for each particle. The cable movement process was discretized into a collection of movements in multiple tiny time intervals. The dynamics parameters at the current moment were obtained through dynamics analysis. After a movement in a tiny time interval, the position of each particle at the next moment could be derived. By iterating the above steps, the dynamic pattern of the cable could be simulated, and the movement simulation of the cable at the joint of industrial robot was realized. Subsequently, the optimal parameters of the cable dynamics model were determined through experiments, and the simulated pattern of dynamics model after parameters optimization was compared with the actual movement pattern of industrial robot cable to validate the accuracy of the dynamics model. Finally, an optimization scheme for the cable layout of industrial robot was obtained, with the objective of minimizing the maximum stress on cable model. The research results provide a theoretical basis for improving the service lifespan of industrial robot cables.
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Received: 01 November 2024
Published: 02 July 2025
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Corresponding Authors:
Chenghao YANG
E-mail: l_xiang2024@163.com;c.yang@hebut.edu.cn
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工业机器人线缆动态特性建模与布局优化
工业机器人线缆变形特性是影响线缆使用寿命的主要因素之一。为了描述线缆运动形态，减少线缆布线对线缆寿命的影响，提出了基于弹簧阻尼链式等效的柔性线缆建模方法。将线缆通过线性弹簧、线性阻尼、扭转弹簧和扭转阻尼进行分割，实现了其质点的动力学描述，并基于牛顿法对各质点进行受力分析。将线缆运动过程离散为多个微小时间段内运动的集合，通过动力学分析得到当前时刻的动力学参数，经过一个微小时间内的运动后即可得到下一时刻各质点的位置，迭代上述步骤便可以仿真得到线缆的动态形态，并实现了工业机器人关节处线缆的运动仿真。而后，通过实验确定了线缆动力学模型的最优参数，并将参数优化后的动力学模型仿真形态与工业机器人线缆真实运动形态进行对比，验证了动力学模型的准确性。最后，以线缆模型的最大应力最小为目标，得到了工业机器人线缆布局优化方案。研究结果为提高工业机器人线缆的使用寿命提供了理论基础。
关键词：
工业机器人线缆,
动力学建模,
参数识别,
运动仿真,
布局优化
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