In this paper, an inverse kinematics analysis algorithm of a robot is proposed based on the analysis of the configuration and kinematics of the robot. With the inverse kinematics method, the working path of the robot’s joints is planned. Based on multi-body dynamics, finite element analysis, topology optimization and PID control, using co-simulation, this paper presents the method including Structural Optimization, Mechanical System Optimization and Controller Optimization. The main bearing part (large arm) is selected as the optimization object, in order to improve the repeated positioning accuracy of the robotic robot and verify the collaborative optimization methods, the effectiveness of the method is improved by comparing the error of the end position with the same working path by comparing the robotic system before and after the collaborative optimization.

Thanks for all the team members for their outstanding contributions to the project. Special thanks to Anping Chen Engineer for his guidance during the research.

Authors and Affiliations

1. 18th Institute of CALT, Beijing, China

   Yuanchao Cheng, Ke Li, Fan Yang, Songbo Deng, Yanbo Wang & Xuman Zhang

2. Science and Technology on Space Physics Laboratory, Beijing, China

   Yuanyuan Chang

Corresponding author

Correspondence toYuanchao Cheng.

Editors and Affiliations

1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

   YongAn Huang

2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

   Hao Wu

3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

   Honghai Liu

4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

   Zhouping Yin

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