基于五杆机构部分解耦的SCARA机器人结构拓扑优化  

Structural topology optimization of SCARA robot based on partial decoupling of five-bar mechanism

作　　者：张晋 吴广磊 Zhang Jin;Wu Guanglei(School of Mechanical Engineering,Dalian University of Technology,Liaoning Dalian,116024,China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024

出　　处：《机械设计与制造工程》2025年第3期53-58,共6页Machine Design and Manufacturing Engineering

摘　　要：在考虑机器人手臂质量对机器人性能影响的前提下,提出了一种基于拓扑分析的机器人手臂结构优化方法。在动态工况下,以最小应变能为优化目标,对手臂结构进行拓扑优化。根据拓扑结果,保留传力路径上的材料,重构手臂形状,分析新旧结构性能。结果表明:优化后手臂质量由15.36 kg减至10.13 kg,降低34.05%。在手臂质量显著减轻的同时,手臂区域最大等效应力由13.70 MPa降至7.64 MPa,优化前后手臂弹性变形引起的末端执行器轨迹与理想轨迹的偏差基本一致。Considering the influence of robot arm mass on robot performance,a method of optimizing arm structure of robot based on topology analysis is proposed.Under the condition of multi-body dynamics load-step,the topology optimization of the arm structure begins with the minimum compliance as the optimization objective.According to the topology result,the material on the force transmission path is retained,then the arm structure is redesigned.The result shows that the mass of the arm decreases from 15.36 kg to 10.13 kg,which reduces by 34.05%.While the arm mass reduces significantly,the maximum equivalent stress in the arm area decreases from 13.70 MPa to 7.64 MPa.Before and after topology,it's almost consistent that the deviation curve of the end-effector trajectory with the ideal trajectory,caused by the elastic deformation of the arm.

关 键 词：SCARA机器人 轻量化设计 拓扑优化 动载荷 

分 类 号：TP242[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]