轻型机械臂的轻量化结构设计优化方法

在轮式移动机器人基础上，开发移动机械臂，设计了一种轻型五自由度机械臂，建立了三维实体模型，以减轻机械臂自身质量为目标，对关键构件进行了减重孔方案设计和结构优化，利用有限元方法计算得到了在不同载荷下不同方案的应力应变规律、模态与振型，对比分析了不同减重方案的优劣性，给出了最优减重方案，为机械臂结构设计提供了理论依据。

Lightweight Structure Design and Optimization Method for a Light Mobile Manipulator

A mobile manipulator was presented based on the original mobile robot. A light weight manipulator with 5-DOF was presented and its 3D solid model was constructed. The lightening schemes of the key parts were presented to reduce the whole weight of the manipulator and the structure was optimized. The rules of stress and strain to the key parts with different lightening schemes under different loads were provided by finite element method, and the modals and vibration modes of the key parts were obtained as well. The advantages and disadvantages among different lightening schemes were contrasted, and the best lightening scheme was given. The theoretical basis for the optimization of the manipulator structure design was shown.  mobile manipulator; finite element analysis; structure optimization; lightening schemeA mobile manipulator was presented based on the original mobile robot. A light weight manipulator with 5-DOF was presented and its 3D solid model was constructed. The lightening schemes of the key parts were presented to reduce the whole weight of the manipulator and the structure was optimized. The rules of stress and strain to the key parts with different lightening schemes under different loads were provided by finite element method, and the modals and vibration modes of the key parts were obtained as well. The advantages and disadvantages among different lightening schemes were contrasted, and the best lightening scheme was given. The theoretical basis for the optimization of the manipulator structure design was shown.