外骨骼机器人膝部三铰点零件轻量化研究

Research on lightweight of three hinge parts of exoskeleton robot knee

为了满足康复训练外骨骼机器人的结构轻量化要求,提出了拓扑优化与响应面法相结合的结构优化方法,通过对某康复训练外骨骼机器人膝部三铰点进行了轻量化研究与多目标优化设计,利用拓扑优化工具对其零件进行初步优化,然后以质量、最大位移及最大极限应力为目标,以零件尺寸为设计变量,进行多目标优化设计。结果表明,在满足刚度和强度的前提下,2次优化后的三铰点零件质量减轻了26.14%,为康复训练外骨骼机器人的轻量化与实用性研究,提供了新的途径。

In order to meet the structural lightweight requirements of rehabilitation training exoskeleton robot,a structural optimization method combining topology optimization and response surface method was proposed.Through lightweight research and multi-objective optimization design of three hinge points on the knee of a rehabilitation training exoskeleton robot,topological optimization tools were used for preliminary optimization of its parts.Mass,maximum displacement and maximum ultimate stress aresubsequently taken as objectives,and component size was taken as design variable to carry out multi-objective optimization design.The results showed that,on the premise of meeting the stiffness and strength,the mass of the three-hinge points was reduced by 26.14%after two optimizations,which provided a new way for the lightweight and practicability research of the rehabilitation training exoskeleton robot.