Integrated joint lightweight design based on dynamic performance improvement
DAI Fengyan
DU Xinghua
CHEN Ya
LIU Shujing
WANG Peng
WANG Dianjun
SONG Zhongkang
WANG Zilong
Abstract：[Objective]To improve the overall performance of collaborative robots and achieve more stable,efficient and precise operation,lightweight design and simultaneous dynamic performance optimization were conducted for integrated joints.[Methods]Firstly,the mechanical structure model,transmission system model and frequency characteristics were analyzed.Secondly,a strategy taking joint moment of inertia as the optimization variable was adopted.The rated parameters of fixed components inside the integrated joint,such as the motor and harmonic reducer,were set as constraint conditions of the objective function.The nondominated sorting genetic algorithm Ⅱ(NSGA-Ⅱ)was used to comprehensively optimize three key performance indicators,namely the joint resonance frequency,the inherent electrical frequency of the motor and the total joint mass.Finally,material optimization design was carried out for the integrated joint on the basis of the above multi-objective optimization results.[Results]After multi-objective optimization,the joint moment of inertia is reduced by 16.6%,and the joint mass is decreased by 15.2%.The results of multi-objective optimization and material optimization are highly consistent,which verifies that the material optimization scheme meets the lightweight design requirements.
Keywords：Integrated jointElectromechanical couplingLightweight designMulti-objective optimizationMaterial optimization
Publication Date：2026-07-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：10( 58-67 )