爬壁机器人变密度拓扑优化吸附结构研究  

Research on Adsorption Structure of Wall Climbing Robot with Variable Density Topology Optimization

作　　者：赖欣[1] 师靖远 彭天宇 张晨蕾 LAI Xin;SHI Jingyuan;PENG Tianyu;ZHANG Chenlei(School of Mechanical and Electrical Engineering,Southwest Petroleum University,Chengdu 610500,China)

机构地区：[1]西南石油大学机电工程学院,成都610500

出　　处：《机械科学与技术》2021年第6期821-827,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：四川省科技厅应用基础研究面上项目(2019YJ0311);国家安监局2018安全生产重大事故防治关键技术项目(sichuan-0006-2018AQ);油气藏地质及开发工程国家重点实验室项目(PLN2020-10);国家级大学生创新创业训练项目(S202010615024);西南石油大学“大学生开放性实验重点项目”(KSZ119330)。

摘　　要：针对目前爬壁机器人自身重量过重、机身结构过于复杂的问题,提出一种爬壁机器人吸附结构变密度拓扑优化法。通过对爬壁机器人吸附于壁面时影响较大的主要结构部件进行三维建模,引入变密度拓扑优化法对所选用的部件在Ansys Workbench软件中进行结构优化。根据机器人工作实际情况设置边界条件和载荷,合理去除爬壁机器人主体部件中对结构强度影响不大的区域。根据优化结果重建模型并和原始结构模型进行应力分析对比,从而实现对爬壁机器人主体结构的拓扑优化。将优化后的吸附面结构与优化前的吸附面结构在ANSYS中对比,在保证爬壁机器人底板强度一致的基础上达到轻量化的目的,有助于提高爬壁机器人的灵活性和运动控制能力。Aiming at the problems that the current wall-climbing robots are too heavy and the fuselage structure is too complicated,a variable-density topology optimization method for wall-climbing robot adsorption structure is proposed.Through the three-dimensional modeling of the main structural components whose weight have great influence when the wall-climbing robot is adsorbed on the wall surface,the variable density topology optimization method is introduced to optimize the structure of the selected components in Ansys Workbench software.We set the boundary conditions and loads according to the actual working conditions of the robot,and reasonably remove the areas in the main parts of the wall-climbing robot that have little effect on the structural strength.The model is reconstructed according to the optimization results and compared with the original structural model for the stress analysis,so as to achieve topological optimization of the main structure of the wall-climbing robot.The optimized adsorption surface structure and the original adsorption surface structure were compared in ANSYS to achieve the purpose of lightweight on the basis of ensuring the consistent strength of the bottom plate of the wall-climbing robot,which is helpful to improve the flexibility and motion control ability of the wall-climbing robot.

关 键 词：永磁吸附 爬壁机器人 变密度 拓扑优化 轻量化设计 

分 类 号：TH12[机械工程—机械设计及理论]