一种SCARA机器人小臂优化设计  

Optimization Design of a SCARA Robot Forearm

作　　者：古明标 张静[2] GU Mingbiao;ZHANG Jing(Dongguan Shinyou Intelligent Technology Co.,Ltd.,Dongguan 523000;Modern Industrial Innovation Practice Center,Dongguan Polytechnic,Dongguan 523808)

机构地区：[1]东莞新友智能科技有限公司,东莞523000 [2]东莞职业技术学院现代工业创新实践中心,东莞523808

出　　处：《现代制造技术与装备》2024年第3期76-80,共5页Modern Manufacturing Technology and Equipment

基　　金：东莞市科技特派员项目“基于机器学习的SCARA机器人减振技术研究”(20231800500342)。

摘　　要：以一种选择顺应性装配机器手臂(Selective Compliance Assembly Robot Arm,SCARA)为研究对象,利用仿真研究方法优化小臂结构。利用SolidWorks软件建立机器人三维结构模型,使用ANSYS软件对机器人进行模态分析,确定优化部件。利用遗传算法得到该机器人最优臂长,利用拓扑优化方法优化小臂结构。经分析,优化后的小臂强度、刚度和抗振性能明显增加,实现了对SCARA机器人重复定位精度和抑振能力的优化。A Selective Compliance Assembly Robot Arm(SCARA)was selected as the research object,and the structure of the arm was optimized by simulation.The three-dimensional structure model of the robot was established with SolidWorks software,and the modal analysis of the robot was carried out with ANSYS software to determine the optimal parts.The optimal arm length of the robot was obtained by genetic algorithm,and the forearm structure was optimized by topology optimization method.After analysis,the strength,stiffness and vibration resistance of the optimized forearm are significantly increased,and the repeated positioning accuracy and vibration suppression ability of SCARA robot are optimized.

关 键 词：选择顺应性装配机器手臂(SCARA)机器人 小臂优化 遗传算法 拓扑优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]