基于响应面法的隧道内工程作业机械臂结构优化

Structural optimization of manipulator in tunnel engineering based on response surface methodology

在桥隧环境下,人工平台臂的作业环境具有复杂多样的特点,需要满足其在多种工况下工作需求的同时兼顾安全性与稳定性,然而过量的安全余裕会造成材料的浪费与成本的上升,故将工平台臂在一定范围内进行轻量化对于整个研发过程具有重要意义。文中根据机械臂承力的特点,针对人工平台基本臂的应变建立数学模型,以在满足强度刚度约束条件的同时减少结构质量为研究目标。首先在SolidWorks中对结构进行特征化建模,之后与Workbench软件进行联合仿真,建立有限元参数化模型,判断并选择最优的响应面近似模型,之后运用多目标遗传算法进行求解。研究结果表明,基本臂的质量减少了18.90%,相较于传统结构设计既节约了材料的,又满足了力学性能的要求,对同类结构的优化问题具有一定指导意义。

In the bridge and tunnel environment,the working environment of the artificial platform arm is complex and diverse.While ensuring that it can work under various working conditions,it is necessary to give consideration to safety and stability.However,excessive safety margin will lead to material waste and cost increase,so it is of great significance for the whole R&D to lighten the artificial platform arm within a certain range.According to the mechanical arm bearing characteristics,the strain mathematical model of the basic arm of the artificial platform was established,so as to achieve the goal of reducing the structural quality under the condition of satisfying the constraint conditions of strength and stiffness.Firstly,the structure was characterized and modeled in SolidWorks,and then the Workbench software was used for joint simulation,the finite element parametric model was established,and the optimal response surface approximation model was judged and selected,and then the solving of multi-objective genetic algorithm was conducted.Results show that the mass of the basic arm is reduced by 18.90%.Compared with the traditional structural design,this design not only saves materials,but also meets the requirements of mechanical properties,which has certain guiding significance for the optimization of similar structures.