某型号搬运机器人倍速平移机构轻量化设计

Lightweight Design of Double-speed-translational Mechanism for Transfer Robot

在满足一定刚度的条件下,要求搬运机器人的倍速平移机构的高速运动部件减轻质量,以减少主机器人驱动功率,达到降低成本、提高机器人的操作精度和生产节拍的目的。首先运用多刚体系统动力学分析得到倍速平移机构主梁结构所受的动态载荷;然后利用有限元法进行瞬态响应分析;最后用等效静态载荷法计算得到等效静态载荷,并将该载荷作为力边界条件,运用变密度法建立拓扑优化模型,对倍速平移机构主梁结构进行轻量化设计。与优化前模型相比,优化后主梁质量减少了8.9%,同时其刚度提高了14.0%。

Firstly ,the dynamic loads on main beam of double-speed-translational mechanism are calculated by multi-rigid-body system dynamics analysis technics .Then the transient response of main beam to transient excitations is studied using the finite element method ,then the equivalent static loads are calculated by the equivalent static loads method ,which are used as the force boundary conditions .Finally ,by variable density method ,an optimal topology model is established to support the lightweight design of the main beam structure of double-speed-translational mechanism .Compared with the model without optimization ,the mass of the new main beam decreases by 8 .9% ,w hile its stiffness increases by 14 .0% .