面向3D打印的排爆机械臂栅格优化  

Optimization of EOD manipulator arm’s lattice for 3D printing

作　　者：郭小兰 封坤 魏弦 李昕 GUO Xiaolan;FENG Kun;WEI Xian;LI Xin(Institute of Intelligent Manufacturing,Panzhihua University,Panzhihua 617000)

机构地区：[1]攀枝花学院智能制造学院,四川攀枝花617000

出　　处：《机械设计》2024年第2期116-122,共7页Journal of Machine Design

基　　金：国家自然科学基金项目(51865053);国家级大学生创新创业训练(S202011360005);四川省科技支撑计划(2018FZ0089)。

摘　　要：文中以排爆机器人机械臂为研究对象,设计了一种面向3D打印的排爆机械臂。通过SolidWorks建立机械臂三维模型,采用ANSYS Workbench对原始大臂进行静力学分析,再根据分析结果对机械臂大臂进行拓扑优化。在满足大臂工作要求的前提下,采用Altair Inspire为拓扑优化大臂分别填充3种不同直径的栅格结构。通过Inspire对优化后的大臂进行静力学分析,与原始大臂相比,优化后的机械臂不仅满足工作要求,且自身质量减小,提升了机械臂的承载能力与末端执行器精度,增强了排爆工作的安全性。采用3D打印技术制造的机械臂,解决了优化大臂模型复杂、加工困难的问题,提高了设计制造的效率。In this article,with the focus on the explosive disposal robot’s manipulator arm,an EOD manipulator arm for 3D printing is designed.The three-dimensional model of the manipulator arm is set up by means of SolidWorks;the static analysis is conducted on the original boom is carried out with the help of ANSYS Workbench,and then boom is subject to topology optimization according to the analytical results.While meeting the boom’s working requirements,Altair Inspire is used to fill the optimized boom with three grid structures with different diameters.The static analysis is conducted on the optimized boom through Inspire.Compared with the original boom,the optimized manipulator arm meets the working requirements.Besides,it enjoys lightweight design and better bearing capacity;the end effector has higher accuracy,and the safety of explosion removal is enhanced.The 3D printing technology is helpful to solve such problems as complex optimization and difficult processing of the boom model on one hand and improve the efficiency in design and manufacturing on the other hand.

关 键 词：排爆机器人 机械臂 有限元分析 栅格优化 3D打印 

分 类 号：TH122[机械工程—机械设计及理论]