Multidisciplinary Design Optimization of Robot System Based on Collaborative Optimization

摘要

The prupose of this paper is to apply the idea of multidisciplinary design optimization to the design of robot system. The main idea and frame of collaborative optimization are introduced. The design of 2-DOF robot is used as a test problem. The key issue of the investigation is how to execute collaborative optimization of Kinematics、 Structural mechanics、 Dynamics and Controls. The numerical results indicate that the collaborative optimization can be successfully applied to dealing with the complex robot system,and lay a foundation to solve more complex mechanical system.