移动服务机器人机械臂结构设计及轻量化的研究

Study on the Structure Design and Light Weight of Mobile Service Robot Manipulator

根据设计参数要求和设计准则,结合人体工程学理论对机械臂的各种构型进行分析,并以全局相对可操作度值为指标求得机械臂的最优构型,使其具有与人体手臂相似的灵活性。采用拓扑优化方法实现机器人机械臂大臂的轻量化,并对拓扑优化前后的结构进行有限元分析,保证了拓扑优化后结构的安全性,使其具有高刚度、轻质量、运动灵活的特点。

In accordance with the requirements of design parameters and design rules based on theory of human body engineering,a variety of configurations are analyzed. Using a mechanical arm and the global relative operational degree value as an index,the author tries to find the optimal configuration of mechanical arm which is similar to human flexible arm . Topology optimization method is adopted to realize the robot manipulator arm of lightweight,and finite element analysis is carried out on the structure before and after topology optimization to make sure the safety of structure after topology optimization,in order to make it with the characteristics of high stiffness,light quality and flexible movement.