一种机器人大臂机构的结构优化

Structure optimizing of the base arm of the robot

针对机器人大臂机构中存在的个别构件强度不足、安全性不够,以及其它一些构件强度、刚度储备过大,造成整体结构过于笨重等问题,利用有限单元法对各构件进行变厚度分析,得到厚度与强度之间的变化曲线,并利用这些结果进行结构优化,对大臂机构中的关键构件进行改进设计,在不改变总体结构和满足强度、刚度要求的前提下,通过改变各板的厚度,调整整个装置质量的分配,得到良好的刚度、强度匹配,既保证了构件和机构整体的安全性,又提高了经济性。工程实践证明,这种技术路线是可靠的。

In order to solve the problems existing in the base arm like insufficient strength and insecurity in some parts,while the strength and stiffness in some other components are too great that may lead to excessive heavy of the whole structure.etc.the finite element method is applied on the analysis of variable thickness in each component,so as to get a curve between the thickness and strength,which results shall be utilized to optimize the structure and improve the design for key parts of the base arm.Without changing the overall structure,but satisfy the requirements for strengh and stiffness,a better stiffness and intensity pair could be obtained by modifying the thickness of the plates and the allocation of mass.Thus,the security of the components and the whole structure is guaranteed and the cost is reduced.Engineering practice proves that this technical route is reliable.