一种永磁吸附履带式爬壁机器人主体结构的变密度拓扑优化  

Variable Density Topological Optimization of the Main Structure of a Permanent Magnet Adhesion Tracked Wall Climbing Robot

作　　者：冯玉勇 管殿柱[1] 宋新城 王宪辉 邓皓云 FENG Yuyong;GUAN Dianzhu;SONG Xincheng;WANG Xianhui;DENG Haoyun(College of Mechanical and Electrical Engineering,Qingdao University,Qingdao 266071)

机构地区：[1]青岛大学机电工程学院,青岛266071

出　　处：《现代制造技术与装备》2024年第4期4-6,共3页Modern Manufacturing Technology and Equipment

摘　　要：针对爬壁机器人机身过重导致其运动灵活性差的问题,采用变密度法对爬壁机器人的主体结构进行拓扑优化,以降低机器人主体结构的质量。选择爬壁机器人主体结构质量占比大的关键部件进行变密度拓扑优化,并对优化结果进行有限元分析。分析结果表明,部件优化后结构最大变形量小于结构的许用变形量,最大静应力小于所用材料的许用强度,爬壁机器人主体结构质量由0.849 kg减少到0.673 kg,减轻了20.73%。The motion flexibility of wall-climbing robot is poor due to the heavy fuselage.In this paper,the topological optimization of the main structure of wall-climbing robot is carried out by using variable density method to reduce the quality of the main structure.The key components with large mass ratio of the main structure of the wall-climbing robot are selected for variable density topology optimization,and the optimization results are analyzed by finite element method.The results show that the maximum deformation of the structure is less than the allowable deformation of the structure,the maximum static stress is less than the allowable strength of the material used,and the mass of the main structure of the wall-climbing robot is reduced from 0.849 kg to 0.673 kg,a decrease of 20.73%.

关 键 词：爬壁机器人 变密度拓扑优化 有限元分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]