MD1200-YJ码垛机器人大臂的多目标轻量化设计

建立了MD-1200YJ型码垛机器人大臂的有限元模型,通过模态试验验证有限元模型的准确性;通过考虑动力学因素的静力学分析、约束模态分析、振动响应试验、频率响应分析,确定以质量最小、第一和二阶固有频率最大、最大位移最小、最大应力最小为优化目标,以结构参数为设计变量,以设计变量的边界条件为约束条件,利用Box-Behnken和RSM方法建立目标函数的近似模型,并利用NSGA-Ⅱ算法求得最优解。结果表明,前两阶固有频率提高,结构刚度和振动稳定性提高,降低振动对零部件疲劳损害影响以及最大应力和位移均在允许范围内的情况下,质量减轻了11.3%,验证了该轻量化设计方法的有效性。

Multi-objective lightweight design for big arm of MD-1200YJ palletizing robot

Finite element model of big arm of MD-1200YJ palletizing robot was established,the accuracy of the finite element model was verified by modal test.By static analysis taking into account dynamic factors, constrained modal analysis, vibration response test and frequency response analysis to determine to use minimal mass, maximizing the first and second natural frequency, minimizing the maximal stress, minimizing the maximal deformation and as the optimization objectives. Taking structure parameters as design variables and boundary conditionsof design variables as the constraint conditions, the approximation models of objective functions and constraint functions were established by the Box-Behnken and the RSM. The optimal solution was obtained by using NSGA-II algorithm. The results show that, in the case of the first two natural frequencies were increased, the structural stiffness and vibration stability were improved, the influence of vibration on fatigue damage of parts was reduced, meanwhile the maximum stress and deformation within allowable values range, the mass reduction was 11.3%. The validity of this lightweight design method was verified.