机械臂结构轻量化设计研究

Research on lightweight design of manipulator structure

对机械臂结构轻量化的实现方案进行了研究与分析,通过Patran软件所提供的变密度算法来建立机械臂的拓扑优化模型,根据预先划分的设计区域对大臂的拓扑结构进行分析,实施拓扑优化求解,最终输出拓扑优化结果。在此基础上,通过机构臂应力云图和机构臂位移云图对机械臂的拓扑优化结果进行分析。经实验研究发现,拓扑优化前后机构臂的最大应力和最大位移均未发生明显变化,机械臂拓扑结构的改变并未对其物理性能造成影响,而拓扑优化前后大臂质量分别为2.092 kg和1.777 kg,大臂质量减轻15.06%。并且机械臂各关节在运行过程中的速度波动情况也得到了相应的改善,体现出较为显著的优化效果。

It was researched and analyzed the realization scheme of lightweight manipulator structure,established the topology optimization model of the manipulator through the variable density algorithm provided by Patran software,analyzed the topological structure of the boom according to the pre-divided design area,and implemented the topology optimize the solution,and finally output the topology optimization result.On this basis,the topological optimization results of the mechanical arm were analyzed through the stress cloud chart of the mechanism arm and the displacement cloud chart of the mechanism arm.The experimental study found that the maximum stress and maximum displacement of the mechanical arm before and after the topology optimization did not change significantly,and the change of the mechanical arm topology did not affect its physical performance.The masses of the boom before and after the topology optimization were 2.092 kg and 1.777 kg,the mass of the boom was reduced by 15.06%.In addition,the speed fluctuations of the joints of the manipulator arm during operation had also been improved accordingly,showing a significant optimization effect.