用于刚性机械手结构拓扑优化的叠加方法

Superposition Method for Structural Topology Optimization of Rigid Manipulator

针对考虑动态载荷条件的刚性机器手连杆的拓扑优化问题,提出了一种类似于等效静载荷技术的综合拓扑叠加方法。该方法是将对应于不同角度位置的单个最佳拓扑叠加,以便在所有角度位置都有较好的综合效果;然后,进行归一化和再惩罚,以获得所需的体积分数。此外,利用图像处理技术进行后处理,可以降低应力值和几何复杂度。通过理论仿真,对该方法所得综合拓扑的性能进行了评估,并以3自由度工业机械手刚性连杆为例进行了验证。结果表明,体积分数降低30%的情况下可将关节转矩降低24.9%,同时,具有更好的挠度和应力值。与任何一种单个优化拓扑相比,综合拓扑的挠度和应力值降低了10%~25%。

Aiming at the topology optimization problem of rigid robot hand connecting rod considering dy⁃namic load conditions,a comprehensive topology superposition method similar to equivalent static load technolo⁃gy is proposed.In this method,a single optimal topology corresponding to different angular positions is superim⁃posed,so as to have better comprehensive effect at all angular positions.Then normalization and re-punishment are carried out to obtain the required volume fraction.In addition,image processing technology is used for post processing to reduce stress value and geometric complexity.The performance of the integrated topology obtained is evaluated by theoretical simulation,and verified by taking the rigid link of 3-DOF industrial manipulator as an example.The results show that when the volume fraction is reduced by 30%,the joint torque can be reduced by 24.9%,and the deflection and stress are better.Compared with any single optimized topology,the deflection and stress of the integrated topology are reduced by 10%~25%.