Balance force parameter optimization design method of mechanical arm follow-up hanging system

A balance force parameter optimization design method for a mechanical arm follow-up hanging system comprises the steps that the configuration and path of a ground test mechanical arm are designed, and a joint angle data file is generated; a parameterized mechanical arm dynamic model is established in the ADAMS, and a joint angle data file is imported; further establishing a parameterized follow-up hanging system dynamic model; the model is stored as a standard dynamic model and used for calculating the joint torque in the mechanical arm test process under the action of gravity and a follow-up hanging system; and designing a target function, calling the standard dynamical model, and determining the optimal balance force of the follow-up suspension system by adopting an intelligent optimization algorithm. 一种机械臂随动吊挂系统的平衡力参数优化设计方法，包括：设计地面试验机械臂构型和路径，生成关节角度数据文件；ADAMS中建立参数化的机械臂动力学模型，并导入关节角度数据文件；进一步建立参数化的随动吊挂系统动力学模型；保存模型，作为标准动力学模型，用于计算重力和随动吊挂系统作用下，机械臂试验过程的关节力矩；设计目标函数，调用标准动力学模型，采用智能优化算法，确定随动吊挂系统的最优平衡力。