机械臂轻量化设计方法研究

Study on Lightweight Design Method of Manipulator

基于有限元方法对机械臂结构进行轻量化设计研究,对比不同优化方案的效果,并从模态、强度二方面对优化结构进行有效性验证。首先建立了机械臂结构的几何模型,对初始几何模型进行静强度分析,在此基础上进行轻量化方法研究,重点对比了两种不同优化方案的轻量化效果以及强度结果,最后对较优方案的设计模型进行模态分析,验证其动态特性。结果表明,两种优化设计方案均有较好的轻量化效果,较原始模型减重35%左右,其中基于变形最小化的优化模型结构更为合理,具有更好的结构强度,且动态特性满足设计要求。

Based on the finite element method,the lightweight design of the manipulator structure was studied.The effects of different optimization schemes were compared and the effectiveness of the optimized structure was verified from the aspects of mode and strength.Firstly,the geometrical model of the manipulator structure was established,and the static strength analysis of the initial geometrical model was carried out.Based on this,the lightweight method was studied,and the lightweight effect and strength results of two different optimization schemes were compared emphatically.Finally,the modal analysis of the design model of the better scheme was carried out to verify its dynamic characteristics.The results show that the two optimal design schemes have good lightweight effect,and the weight loss is about 35%compared with the original model.The optimized model based on the minimization of deformation has a more reasonable structure,better structural strength,and dynamic characteristics meet the design requirements.