Structural design optimization and comparative analysis of a new high-performance robot arm via finite element analysis

机译：新型高性能机器人手臂的结构设计优化和比较分析的有限元分析

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This paper reports the structural design of a new high-performance robot arm. Design objectives for the new arm include large (1-2m) workspace, low weight, 5 kg payload capacity, high stiffness, high structural vibration frequencies, precise joint-level torque control, a total of three degrees-of-freedom, and mechanical simplicity. A comparative analysis is reported for four very different two degree-of-freedom linkage candidates using the finite element method.

机译：本文报告了一种新型高性能机器人手臂的结构设计。新臂的设计目标包括大（1-2m）工作空间，低重量，5 kg的有效载荷能力，高刚度，高结构振动频率，精确的关节级扭矩控制，总共三个自由度以及机械简单。据报道，使用有限元方法对四个非常不同的两个自由度关联候选进行了比较分析。

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《Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on》|1997年|P.2190-2197|共8页
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Roy; J.; Whitcomb; L.L.;
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中图分类无线电电子学、电信技术;
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Structural design optimization and comparative analysis of a new high-performance robot arm via finite element analysis

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