一种码垛机器人小臂的轻量化设计  

Lightweight Design of a Palletizing Robot Forearm

作　　者：董庆运[1] 靳刚[2] 谭斌[1] DONG Qingyun;JIN Gang;TAN Bin(Tianjin University of Technology and Education,Engineering Training Cente,Tianjin 300222,China;b.Tianjin University of Technology and Education,Institute of Mechanical Engineering,Tianjin 300222,China)

机构地区：[1]天津职业技术师范大学工程实训中心,天津300222 [2]天津职业技术师范大学机械工程学院,天津300222

出　　处：《机械工程师》2023年第12期53-55,共3页Mechanical Engineer

基　　金：天津市自然科学基金(面上项目)“钛合金复杂薄壁件超声辅助铣削过程变形和振动控制理论与关键技术研究”(20JCYBJC00490)。

摘　　要：为降低码垛机器人小臂质量,提高其动态性能,降低能耗。基于有限元静力学分析、模态分析,以质量最小为优化目标,以结构参数为设计变量,以第一阶固有频率不降低、最大合位移和最大等效应力允许值为约束条件,利用实验设计和响应面法建立目标函数和约束函数的代理模型;通过优化求解,得到小臂的优化模型。通过对比分析,在保证固有频率、结构刚度和强度在允许范围内的情况下,小臂的质量减轻了41.89%。文中提出的优化设计方法具有明显效果。In order to reduce the mass of the palletizing robot's forearm,improve its dynamic performance and reduce energy consumption,based on finite element static analysis and modal analysis,the minimum mass is used as the optimization goal,the structural parameters are used as design variables,and the first-order natural frequency does not decrease,the maximum displacement and the maximum equivalent force allowable value are used as constraints,and the proxy model of objective function and constraint function is established by experimental design and response surface method.Through the optimization solution,the optimization model of the forearm is obtained.Through comparative analysis,the mass of the forearm is reduced by 41.89%under the condition that the natural frequency,structural stiffness and strength are within the allowable range.The optimization design method proposed in this paper has obvious effects.

关 键 词：码垛机器人 小臂 静力学分析 模态分析 轻量化设计 

分 类 号：TH122[机械工程—机械设计及理论] TG659[金属学及工艺—金属切削加工及机床]