機(jī)械外文文獻(xiàn)及翻譯(編輯修改稿)
2024-12-09 00:05 本頁面
【文章內(nèi)容簡介】 t forced to merely choose from the templates available. New HLCts can be created, placed in the database and parametrically inserted into the models. Dynamic Model The objective of performing dynamic simulation of a robot is to evaluate system performance, such as predicting acceleration and time performance, but it also yields loads on each actuated axis, needed for actuator lifetime calculations and subsequent stress analysis based on FE calculations. The 內(nèi)蒙古工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)外文翻譯 5 dynamic model in the outlined framework is developed in Modelica using Dymola, and it constitutes a sevenaxis robot arm based on the Modelica Standard library [18]. The dynamic model receives input from the geometry model,as well as providing output to the FE model, which is further described in Sec. . However, to better understand the couplings between the models, the Newton– Euler formulation will be briefly discussed. In this formulation, the link velocities and acceleration are iteratively puted, forward recursively When the kinematic properties are puted, the force and torque interactions between the links are puted backward recursively from the last to the first link FE Surrogate Model To pute the structural strength of the robot, FE models for each robot link is created utilizing CATIA V5, see Fig. 4. For each HLCt, mesh and boundary conditions are manually preprocessed in order to allow for subsequent automation for FEmodel creation. The time spent on preprocessing each FEmodel is thus extensive. Noheless, the obtained parametric FEmodel paves way for automated evaluation of a wide span of concepts. Each robot link is evaluated separately with the load conditions extracted from the dynamic model. The force (fi11and fi) and torque (?i1and ti) are applied on the surfaces where the actuators are attached. 內(nèi)蒙古工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)外文翻譯 6 Geometric Surrogate Models. Surrogate models are numerically efficient models to determine the relation between inputs and outputs of a model [19]. The input variables for the proposed application are the morphological variables thickness and link height as well as a topological variable actuator type. The outputs of the surrogate models are mass m, Inertia I, and center of gravity ri,ci. To identify the most suitable type of surrogate model for the outlined problem, a range of surrogate models types are created and evaluated using 50 samples. The precision of each surrogate model is pared with the values of the original model with 20 new samples. The parison is made using the relative average absolute error (RAAE) and relative maximum
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