工业机器人多目标拓扑优化设计

为了综合提高工业机器人的结构刚度、振动频率,降低结构质量,从而提高机器人整体的静动态性能,提出了一种基于多目标拓扑优化的机器人结构优化方法。该方法首先对机器人整机和部件进行分析,寻找机器人薄弱的零部件;然后对其进行多目标拓扑优化和模型重建,从而获得最佳的结构。将该方法成功应用于一款3 kg装配、搬运等多功能机器人的分析优化中,结果验证了该分析优化方法的可用性和有效性。

Multi objective Topology Optimization and Design for Industrial Robot

In order to comprehensively improve the structure of industrial robots stiffness,vibration frequency,reduce the structure mass so as to improve the static and dynamic performance quality of the robot overall,a robot structure optimization method based on multi-objective topology optimization was presented.In this method,first,the overall and its parts were analyzed,so as to find out its weak parts and weak positions of its main parts.Then the weak parts and weak positions of its main parts were multi-objective topologically optimized and reconstructed,thus obtained an best structure.Finally,the method was applied to an multi-functional 3kg industrial robot used on assembly and handling,which verified that the method is available and effective.