基于元结构的机器人基座结构动态分析与优化

Structural Dynamic Analysis and Optimization for Robot Pedestal Based on Element Structure

以四自由度直角机器人基座为研究对象,首先利用ANSYS软件对基座结构进行静力分析和模态分析,在此基础上引入了元结构方法,并提取出基座的元结构单元。采用参数化设计方法,研究了元结构结构参数对其动态性能的影响规律。最后,在机器人基座结构基本尺寸不变的前提下,以固有频率和重量为优化目标,依据此规律提出若干结构优化方案,通过方案对比分析确定最终优化方案。优化后的基座基频得到较大幅度的提高,并且重量降低31.3%,改善了基座动态性能,节约了制造成本。

Static analysis and modal analysis for pedestal of four degrees of freedom Cartesian robot was carried out with ANSYS. Then element structure approach was applied,and the element structural unit was extracted. The influence of the element structure parameters on dynamic performance was studied by using parametric design method. Several structure optimization programs were proposed along with the premise of fixed pedestal dimension,as well as the target of natural frequency and weight optimization. A final optimization program was chosen,by which the natural frequency of the pedestal is substantial increased and the weight is reduced as high as 31. 3%. As a result,the dynamic performance of the pedestal is improved and the manufacturing cost is reduced.