基于碳纤维复合材料的机器人臂杆优化设计  

Optimum Design of Robot Arm Based on Carbon Fiber Composite Material

作　　者：陆汉林 胡利永 孙宝寿[1] 詹建明 王佳锋 Lu Hanlin;Hu Liyong;Sun Baoshou

机构地区：[1]宁波大学机械工程与力学学院,浙江宁波315211 [2]浙大宁波理工学院机电与能源工程学院,浙江宁波315100

出　　处：《机械制造》2021年第11期4-8,36,共6页Machinery

基　　金：宁波市科技创新2025重大专项(编号:2018B10058)。

摘　　要：为了提高机器人的负载自重比,采用碳纤维复合材料替换铝合金材料,对机器人臂杆进行优化设计。通过准各向同性铺层方式测试碳纤维复合材料机器人臂杆的性能,并与铝合金材料机器人臂杆进行对比,确定碳纤维复合材料机器人臂杆的铺层厚度。使用邻域培植遗传算法对铺层角度进行优化,根据铺层设计的经验性原则筛选得到最优解。通过对比确认,优化设计后机器人臂杆的质量减小39.6%,轻量化效果明显。In order to improve the load-to-weight ratio of the robot,the carbon fiber composite material was used to replace the aluminum alloy material,and the design of the robot arm was optimized.The performance of the carbon fiber composite robot arm was tested by the quasi-isotropic layering method,and the layer thickness of the carbon fiber composite robot arm was determined in comparison with the robot arm made by aluminum alloy material.The genetic algorithm for neighborhood cultivation was used to optimize the paving angle,and the optimal solution was selected according to the empirical principle of paving design.It is confirmed by comparison that the mass of the robot arm is reduced by 39.6%after the optimized design,and the weight reduction effect is obvious.

关 键 词：机器人 臂杆 碳纤维复合材料 优化 

分 类 号：TH6[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]