Research On Lightweight Design Method For Robotic Arms Based On Disk Type Coreless Stator Motor

At present,the robotic arm has been widely used in industry,agriculture,service industry,military etc.And it has brought great convenience to people.However,the traditional robotic arm has a heavy structure,large inertia and serious energy consumption,which does not conform to the contemporary development trend of efficient,energy saving and cannot meet the needs of high quality of people.Therefore,the research on the lightweight design method of the robotic arm has important scientific significance and engineering practical value.Based on the analysis of the research status of the optimal design methods of the robotic arm at home and abroad,this paper designs the lightweight robotic arm the by taking advantage of the characteristics of the disc coreless motor with short axial size and high power density,which can be used as the power source of the robotic arm.Based on the kinematics,stiffness and deformation,dynamics and motor theory of the robotic arm,a multi-level optimization mode and multiple optimization platforms are established to realize the lightweight design of the robotic arm.The main research contents are as follows:1.The designing scheme of the robotic arm is determined according to the design requirements of the robotic arm.By analyzing and comparing different configuration schemes,structure design schemes of robotic arms and transmission forms of driving system on the basis of design index,the design scheme that is more consistent with the lightweight design objective is selected.Furthermore,the design framework and multi-level optimization design scheme of the lightweight robotic arm is formulated.2.The mathematical theory used in the lightweight design of the robotic arm is analyzed,which lays a theoretical foundation for the lightweight design.The theory mainly include kinematics,stiffness and deformation,dynamics and motor design theory.3.In order to reduce the axial size of the joint and make the structure more compact,three types of modular joints embedded in the joint shell are designed.Taking the structure and driving system of the robotic arm as the research object,the design variables,constraints,objective functions and the multi-level cycle optimization design process are determined.By using the Genetic Algorithm,Complex method,and combined with Solidworks software,Ansys Workbench software,Adams software,Matlab software and Maxwell software,multiple optimization platforms were built.In addition,the reference lightweight design method is introduced.4.Based on the designed links and the three types of modular joints,a 4-DOF robotic arm is designed according to the design index.Taking the robotic arm as a design case,after determining its initial parameters,the output results of each optimization platform and the iterative process of multi-level cycle optimization of the robotic arm are analyzed.The results show that the weight of robotic arm optimized with the method proposed in this paper is lighter and its load-weight ratio is higher.