基于拓扑优化和正交分析的混合结构机械臂关节法兰设计  

Joint flange design of hybrid structure robotic arm based on topology optimization and orthogonal analysis

作　　者：廖力 孟婥[1] 张荣涛 孙志军[1] LIAO Li;MENG Zhuo;ZHANG Rongtao;SUN Zhijun(College of Mechanical Engineering,Donghua University,Shanghai,China)

机构地区：[1]东华大学机械工程学院,上海

出　　处：《东华大学学报（自然科学版）》2024年第6期57-64,共8页Journal of Donghua University(Natural Science)

基　　金：江苏省重点研发计划(BE2023070)。

摘　　要：为进一步减轻碳纤维复合材料(CFRP)和球墨铸铁(QT)混合结构机械臂的质量,提出基于拓扑优化和正交分析的混合结构机械臂关节法兰轻量化设计方法。创建六自由度工业机器人动力学模型,分析并求解机器人负载50 kg运动过程中关节所受载荷,并将最大载荷作为有限元分析的输入载荷。基于分析结果,对混合结构机械臂关节法兰进行拓扑优化,并结合加工工艺和正交分析试验,得到最优关节法兰模型。仿真和试验结果表明,当混合结构机械臂关节法兰周向开槽对数为3、轴向开槽个数为2、开槽为40°圆心角时,关节法兰质量、混合结构机械臂最大变形和最大应力相比优化前减少8.95%、2.46%和3.34%,满足机器人的运动性能要求。A lightweight design method for hybrid structure robotic arm joint flange based on topology optimization and orthogonal analysis is proposed,to further reduce the weight of the hybrid structure robotic arm composed of carbon fiber composite(CFRP)and ductile iron(QT).A dynamics model of a six-axis industrial robot was created to analyze and solve the load on the joints of the robot during its movement with a load of 50 kg.The maximum load was used as the input load for finite element analysis.Topology optimization of the joint flange was then conducted based on these results,combined with processing technology and orthogonal analysis experiments,thus the optimal joint flange model was obtained.Simulation and experimental results show that the joint flange mass,maximum deformation and maximum stress of the hybrid structure robotic arm are reduced by 8.95%,2.46%and 3.34%,respectively,when adopting a joint flange design with 3 circumferential grooves,2 axial grooves,and 40°central angle groove size.The results meet the requirements of the robot kinematic performance.

关 键 词：混合结构机械臂 关节法兰 拓扑优化 正交分析 轻量化设计 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TH164[自动化与计算机技术—控制科学与工程]