摘要
In order to solve the problems of too large mass,too complex structure and poor flexibility of the 6 DOF manipulator,the topological optimization theory based on variable density method is applied to the 6-DOF manipulator,the topology optimization of the main structural components of the manipulator is carried out with the help of the finite element software ANSYS,and the optimized structure is simplified according to the density distribution of the units and the requirements of manufacturability.the results are compared and analysed by static mechanics.It shows that the whole mass of the 6-DOF manipulator is reduced by 47.23%without changing the original mechanical properties after topological optimization,and the optimized model can meet the requirements of manufacturability,the optimization effect is signifcant,which can be used as a reference for the structure optimization of the 6-DOF manipulator.
基金
supported in part by China intelligent robot project of firm-universities cooperative R&D under Grant No.2021JQR021
the Anhui Provincial Teaching Demonstration Course Project under Grant No.2020SJJXSFK0330
the demonstration experiment training center project of Anhui Polytechnic University under Grant No.2020sysx02
the Overseas Visiting and Research Project for Outstanding Young Backbone Talents in Universities of Anhui Province under Grant No.gxgwfx2019041
the Innovation Project for Returned Overseas Students in Anhui Province under Grant No.2020LCX013
Key Research and Development Projects of Anhui Province under Grant No.202004b11020006
Scientific Research Foundation of Anhui Polytechnic University under Grant No.2020YQQ010
Anhui Polytechnic University Research Initiation Fund for Introducing Talents under Grant No.2019YQQ004
Anhui Polytechnic University Research Project under Grant No.Xjky019201905
Industrial Collaborative Innovation Fund of Anhui Polytechnic University and Jiujiang District under Grant No.2021cyxtb9
Open Project of Anhui Provincial Engineering Laboratory on Information Fusion and Control of Intelligent Robot under Grant No.IFCIR2020001
Open project of Key Laboratory of industrial equipment quality big data Ministry of industry and information technology under Grant No.2021-IEQBD-05.
