Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance

作     者：Peng Li Zhenguo Nie Zihao Li Xinjun Liu Peng Li;Zhenguo Nie;Zihao Li;Xinjun Liu

作者机构：Department of Mechanical EngineeringTsinghua UniversityBeijing 100084China State Key Laboratory of Tribology in Advanced EquipmentTsinghua UniversityBeijing 100084China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and ControlTsinghua UniversityBeijing 100084China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2024年第37卷第3期

页      面：26-40页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：Supported by National Key Research and Development Program of China (Grant Nos.2022YFB4703000 2019YFB1309900) 

主　　题：Multi-objective optimization Modular joint drive train design Load capacity Dynamic response performance 

摘      要：Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of *** to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more *** this paper,a new method for designing the drive train parameters of cobot is ***,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design ***,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design ***,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective *** on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial *** result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a *** minimum resonance frequency of the joints is 42.70 Hz.