工业机器人臂部静动态多目标拓扑优化

Static-Dynamic Multi-objective Topology Optimization of Industrial Robot Arm

为了兼顾工业机器人臂部具有更高的静动态强度及更轻重量的要求,对其进行静动态多目标拓扑优化。以RB08工业机器人大臂为研究对象,基于SIMP变密度法拓扑优化,将多级容差序列规划法与折衷规划法相结合,对多优化目标进行分级处理,得到同时满足动态低阶频率最高和静态多工况条件下柔度最小的大臂优化结构。根据优化结果对大臂进行改进,分析对比可知,优化后的大臂质量减轻11.9%,动态低阶固有频率及静态各工况刚度均有不同程度的提高。

In order to balance the requirements of the industrial robot arm with higher static-dynamic strength and lighter weight,static-dynamic multi-objective topology optimization was carried out.Taking the RB08 industrial robot big arm as the research object,based on SIMP variable density method topological optimization,the multi-level tolerance sequence planning method was combined with the comprehensive programming method,and the multi-level optimization objectives were processed in different levels.The optimization structure of the big arm with the highest dynamic low-order frequency and the minimum flexibility under static multi-operating conditions was obtained.According to the optimization results,the big arm was improved.Through analysis and comparison,it can be seen that the mass of the optimized big arm is reduced by 11.9%,the dynamic low-order natural frequency and the static stiffness of each working condition are improved to varying degrees.