摘要
设计了一种上肢康复机器人,其运动部分采用大L形悬臂梁结构来实现,因而其静态刚度和转动惯量的最小化是该机器人结构优化的主要目标。根据人机肩关节轴对齐度的要求,确定了静态刚度满足的条件;通过拓扑优化计算,对运动结构件进行了轻量化设计。通过对比优化前后的结构,表明修改后的结构力学性能明显改善,完全满足设计要求。
The upper limb rehabilitation robot designed by this project uses a large L-shaped cantilever beam structure to achieve the movement.Therefore,minimizing its static stiffness and moment of inertia is the main goal of structural optimization in this paper.According to the requirements of human-machine shoulder joint axis alignment,the conditions for static stiffness are determined.Through the topology optimization calculation,the lightweight design of the moving structural parts is carried out.By comparing the structures before and after optimization,it is shown that the mechanical properties of the modified structure are significantly improved and fully meet the design requirements.
作者
柳海瑞
王钰
LIU Hairui;WANG Yu(Qingdao University,Qingdao 266071,China)
出处
《机械工程师》
2020年第3期4-6,共3页
Mechanical Engineer
基金
山东省科技发展计划项目(40214010075)
关键词
上肢康复机器人
转动惯量
轻量化
拓扑优化
upper limb rehabilitation robot
moment of inertia
lightweight
topology optimization
