基于Altair Inspire的码垛机器人大臂轻量化设计研究  

Research on Lightweight Design of Stacking Robot Big Arm Based on Altair Inspire

作　　者：张大鹏 王雪桃 肖扬 Zhang Da-peng;Wang Xue-tao;Xiao Yang(Department of College of Energy and Control Engineering,Changji University,Xinjiang Changii 831100)

机构地区：[1]昌吉学院能源与控制工程学院,新疆昌吉831100

出　　处：《内燃机与配件》2024年第24期89-91,共3页Internal Combustion Engine & Parts

基　　金：2023年度昌吉学院校级课题“基于CFD-DEM离散元方法的相变微胶囊流动传热及磨损特性研究”(KYLK017);2024年大学生创新创业训练计划项目(202410997006)。

摘　　要：为实现码垛机器人大臂的刚度、强度、可靠性等,降低机械臂成本和质量,以某负载搬运码垛机器人大臂结构为研究对象,利用Inspire软件对码垛机器人模型进行简化,将大臂作为设计空间,对其进行几何重构,生成概念模型,并进行手动拟合,生成大臂实体模型。以最小安全系数、最大位移、最大米塞斯应力为优化目标,对码垛机器人大臂进行轻量化设计。结果表明,Inspire的拓扑优化方法可以有效改善码垛机器人大臂的结构性能指标,最佳方案优化模型实现了76.8%的减重,最大米赛斯等效应力为128.0 MPa,最大位移为0.3128 mm,最小安全系数为2.6。In order to achieve the rigidity,strength,reliability,etc.of the palletizing robot arm,reduce the cost and quality of the robotic arm,the structure of a palletizing robot arm for load handling is taken as the research object.The palletizing robot model is simplified using Inspire software,and the arm is used as the design space for geometric reconstruction,generating a conceptual model,and manually fitting it to generate a solid model of the arm.Design a lightweight palletizing robot arm with the optimization objectives of minimum safety factor,maximum displacement,and maximum Mises stress.The results indicate that Inspire's topology optimization method can effectively improve the structural performance indicators of the palletizing robot arm.The optimal optimization model achieved a weight reduction of 76.8%,with a maximum Mises equivalent stress of 128.0 MPa,a maximum displacement of 0.3128 mm,and a minimum safety factor of 2.6.

关 键 词：码垛机器人 大臂 INSPIRE 拓扑优化 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]