一种重载码垛机器人结构优化设计方法

码垛机器人常用于焊接、喷涂、上下料、装配和码垛等工艺，可以提高劳动生产率和保证产品质量。针对现有的重载码垛机器人，使用D-H法构建其运动学方程并利用MATLAB解算其工作空间。联合使用ADAMS（automatic dynamic analysis of mechanical systems，机械系统动力学自动分析）和ANSYS Workbench，分别对重载码垛机器人零部件和整机进行瞬态动力学仿真，得到机器人各零部件所受的应力、应变以及机器人末端变形量等，并将其与试验数据对比，以验证仿真方法的可靠性和准确性。结合响应面法和拓扑法对重载码垛机器人结构进行联合优化，获得其结构的轻量化设计方法。研究表明该方法适用于各类关节型机器人的轻量化设计，可进一步降低机器人的材料、电机和减速器的成本。

A structural optimization design method for heavy-duty palletizing robot

Palletizing robots are often used in welding, spraying, loading and unloading, assembling and palletizing processes, which can improve the labor productivity and ensure the product quality. Aimming at the existing heavy-duty palletizing robot, the D-H method was used to construct its kinematics equation and the MATLAB was used to solve its working space. By combining the ADAMS (automatic dynamic analysis of mechanical systems) and ANSYS Workbench, the transient dynamics simulation of the components and the whole machine of heavy-duty palletizing robot was carried out to obtain the stress and strain on the various components and the deformation of the robot end, which was compared with the experimental data to determine the reliability and accuracy of the simulation method. The response surface method and the topology method were combined to optimize the structure of heavy-duty palletizing robot, and a lightweight design method for its structure was obtained. The research indicates that this method is suitable for the lightweight design of various articulated robot, which can further reduce the cost of the materials, motors and reducers of robots.