基于变密度法的机械臂3D打印轻量化设计方法研究

Research on Lightweight Design Method of 3D Printing of Robot Arm Based on Solid Isotropic Microstructures with Penalization

基于固体各向同性惩罚函数法(Solid Isotropic Microstructures with Penalization,SIMP)的基本思想,选用RB-10-001型工业机器人的机械臂作为研究对象,以最小体积权值为优化目标,以位移为约束条件进行拓扑优化。利用有限元法对零件进行拓扑优化处理,并对零件优化结构进行应力应变分析。应用3D打印技术对模型试制,结果表明在满足机械臂载荷和空间尺寸要求、保证结构的刚度不降低的条件下,减重率为23.68%,达到机械臂轻量化设计的目的,并为机械臂3D打印轻量化设计提供了一种设计思路。

Based on the basic idea of Solid Isotropic Microstructures with Penalization,it chooses RB-10-001 industrial robot as the research object,the minimum volume weight as the optimization target and the displacement as the constraint condition for topology optimization.The finite element method is used to optimize the topology of the part and the stress and strain analysis of the optimized part structure is carried out.The model is manufactured by using 3D printing technology and the results show that the weight reduction rate of the mechanical arm is 23.68%and the mechanical arm is achieved under the condition that the mechanical arm load and space size requirements are met and the rigidity of the structure is not reduced.It also provides a design idea for the lightweight design of mechanical arm 3D printing.