機(jī)械手-自動(dòng)送料機(jī)械手的設(shè)計(jì),機(jī)械手,自動(dòng),設(shè)計(jì)
Compurrrs = $, + $;,,=8 = f 2 [m",Y;X: + v!- Vk’ shown below: F”=- O [I Q!, = kf, ,$, [mki/%4 K1 (6) + (/?:, + u;:,.R:;>,.]. (9b) where the superscripts r and f refer to rigid body and The equations of motion are integrated by using elastic degrees-of-freedom, respectively. K is a block a variable step, variable order predictor-corrector diagonal matrix whose diagonal submatrices are the __ algorithm to obtain the time history of the z,u= 1,2,3; s,v= l,..., 12 are the time-invariant matrices, and mk' is the mass of ith finite element of the kth body. By defining L = $?A i = 1,2 of the elements are taken as the design variables. The wall thickness of each element is set to be 0.1 Dni. The material properties are E = 72 GPa and p = 2700 kg rnm3. The problem size is reduced by using modal variables. The first two bending modes and the first axial mode with fixed-free boundary conditions are considered. The Fig. 1. A planar robotic manipulator. 24.0 22.0 t t 20.0 & 18.0 f 16.0 14.0 12.0 0 5 10 15 20 25 30 35 Number of iterations Fig. 2. Design histories. 258 S. Oral and S. Kemal Ider Table 1. Optimum solutions for the planar robotic manipulator KS-10 KS-30 KS-SO MCC Weight Dll 012 DZI 022 Number of (N) (mm) (mm) (mm) (mm) iterations 21.374 62.635 50.982 45.107 30.927 14 16.800 55.995 45.409 39.266 27.172 19 16.286 55.210 44.742 38.524 26.736 19 15.719 54.266 44.150 37.552 26.315 38 actuator of link-2 is located at joint-B has a mass of 2 kg and the combined mass of the end-effector and payload is 1 kg. The design problem is solved under the following constraints: -75MPa
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