摇臂探测车悬架多工况拓扑结构优化设计  

Structural topology optimization design of the rocker-bogie suspension for exploration rover based on multiple load cases

作　　者：李所军[1,2] 高海波[1,2] 邓宗全[1,2] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080 [2]哈尔滨工业大学机电学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2010年第6期749-754,共6页Journal of Harbin Engineering University

基　　金：机器人技术与系统国家重点实验室自主研究课题资助项目(SKLRS200802C);国家863计划基金资助项目(2006AA04Z231);高等学校学科创新引智计划资助项目(B07018)

摘　　要：为减轻探测车的悬架重量,保证足够大的刚度,基于变密度法对摇臂悬架进行了结构拓扑优化设计.对摇臂和摆杆的载荷工况和边界条件进行了简化,选取3种极限受载情况进行了准静力学分析,确定了优化时的各工况载荷.以最小柔度为目标函数,体积分数为约束条件,利用Hyperworks软件分别对摇臂和摆杆进行了多工况结构拓扑优化设计.依据体积分数为0.2的最优拓扑结构,并考虑探测车的几何通过性及悬架的工艺性要求,进行了摇臂和摆杆的结构设计.用MSC.Nastran软件对设计结果进行了有限元分析.结果表明,刚度和强度均满足设计要求,证明了悬架结构设计的合理性.In order to minimize weight while satisfying guidelines for stiffness,optimization of the structural topology of the rocker-bogie suspension design was carried out based on the variable density method.Simplifications of load and boundary conditions for the rocker-bogie were required.Quasi-static analysis of three kinds of limit loading was established,selected under various loading cases.Taking the least flexibility as the objective function,under the constraint condition of volume fraction,optimization of structural topology was accomplished using Hyperworks software.According to the results of the optimization designed with the volume fraction 0.2,after considering geometry trafficability requirements of the exploration rover and manufacturability of suspension and the manufacturability of the suspension,the structural design of the rocker-bogie suspension was finalized.The results of finite element analysis indicated that both the stiffness and the intensity satisfied all requirements.This proved that the structural design of the suspension was reasonable.

关 键 词：探测车 摇臂悬架 拓扑优化 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]