基于AHP-FEA权重分配方法的码垛机器人腰部转台多目标结构优化

目的:提高码垛机器人的动态性能并降低能耗。方法:通过静、动力学分析确定以质量最小、最大位移最小、第一阶固有频率最大、最大应力最小为优化目标，以结构参数为设计变量，利用Box-Behnken和RSM方法建立目标函数的近似模型；提出一种基于有限元分析结果的层次分析法(AHP-FEA)用于权重系数的分配，并以综合目标函数作为评价指标，利用NSGA-Ⅱ算法求解；基于AHP-FEA方法获得腰部转台的优化模型，并与初始模型进行对比。结果:在保证结构强度、刚度和振动稳定性的情况下，质量减轻了9.6%。结论:与常见的平均分配法和经验赋权法相比，采用AHP-FEA权重系数下的优化综合目标函数值最小，其综合优化效果更优。

Multi-objective structure optimization design of waist turntable of palletizing robot based on AHP-FEA weight distribution method

Objective: Improve the dynamic performance of palletizing robot and reduce energy consumption. Methods: By static and dynamic analysis to determine to use minimal mass, maximizing the first natural frequency, minimizing the maximal stress and minimizing the maximal deformation as the optimization objectives, taking the structure parameters as design variables, the approximation models of objective functions and constraint functions were established by the Box-Behnken and the RSM. Based on the results of finite element analysis, an Analytic hierarchy process based on the results of finite element analysis was proposed. The process (AHP-FEA) was proposed to allocate the weight coefficients, and the comprehensive objective function was taken as the evaluation index. NSGA-II algorithm was used to solve the problem. The optimized model of the waist turntable was obtained based on AHP-FEA method, which was compared with the initial model. Results: The results showed that the mass of the waist turntable was reduced by 9.6% under the condition of ensuring the structural strength, stiffness and vibration stability. Conclusion: Compared with the common average allocation method and empirical weighting method, the comprehensive objective function value of optimization under the weight coefficient of AHP-FEA is the smallest, and its comprehensive optimization effect is better.