基于拓扑优化的工业机器人结构设计  

Industrial Robot Structural Design Based on Topology Optimization

作　　者：吴立华[1,2] 白洁[2] 康国坡[2] 李克天 WU Li-hua;BAI Jie;KANG Guo-po;LI Ke-tian(Guangdong University of Technology,Guangdong Provincial Key Laboratory of Computer Integrated Manufacturing,Guangzhou 510006,China;School of Intelligent Robot,Guangdong Polytechnic Institute,Guangzhou 510091,China)

机构地区：[1]广东工业大学广东省计算机集成制造重点实验室,广东广州510006 [2]广东理工职业学院智能机器人学院,广东广州510091

出　　处：《机电工程技术》2018年第7期5-7,122,共4页Mechanical & Electrical Engineering Technology

基　　金：广东省计算机集成制造重点实验室开放基金资助项目(编号:CIMSOF2016003);广东省自然科学基金(编号:2016A030310101)

摘　　要：结合串联型工业机器人的结构特征,针对其薄弱零部件采用多目标的拓扑优化方法进行优化设计,从而获得最优设计方案。首先通过对大臂进行拓扑优化来提高其结构的刚度、固有频率并达到轻量化的目标;其次依据拓扑优化结果并综合考虑其制造工艺等要求,对大臂的结构进行优化设计;最后对大臂最终设计模型进行结构分析和模态分析,结果表明:静态刚度和动态性能均有较大的提高且轻量化效果明显。Combined with the structural characteristics of serial industrial robots,a multi-objective topology optimization method is used to the optimized design of the weak and critical industrial components.Firstly,the optimizing analysis is applied to the arm by employing topology optimization to improve its stiffness,natural frequency,and weight.Secondly,the structure of the arm is optimized designed based on the results of the topology optimization and the requirements of its manufacturing process.Finally,the results of the structural analysis and modal analysis of redesigned arm show that both the static stiffness and the dynamic performance are greatly improved and the lightweighting effect is significant.

关 键 词：拓扑优化 工业机器人 有限元分析 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]