直角坐标机器人悬臂结构优化设计与分析

Design and Analysis for Cartesian Robot Cantilever Structure

提出了一种针对工程实际问题的拓扑优化设计方法,对直角坐标机器人悬臂结构进行了拓扑优化设计和力学性能分析。先对整机进行了有限元分析,找出了影响整机精度的关键结构即Y轴悬臂梁。后采用变密度法对悬臂梁横截面进行了拓扑优化,重构筋肋分布,根据优化后的截面形状重建三维模型并进行了力学性能有限元分析。优化前后对比分析结果表明:优化后的悬臂结构的变形减小,最大应力明显降低,结构的质量也显著减轻。该方法对以后机械结构分析和拓扑优化设计具有一定的指导意义。

It presents a topology optimization method for practical engineering matters, and using this meth- od improves the cantilever structure of Cartesian robot with some mechanical properties analysis. Finite ele- ment analysis was done on the whole machine to find out the key part that influenced the machine＇ s accura- cy. Then, the topology optimization was made on the cross section of Y-axis cantilever, the key part, by u- sing variable density approach. After reconstructing ribs arrangement under the optimization, a finite element analysis was made on the new model. The results show the maximum deformation of the cantilever structure reduces a lot after the optimization, that the max stress has obvious decrease, and that the weight reduces significantly. This approach can provide some helpful instructions for the mechanical structure analysis and topology optimization design.