管桁架焊缝质检机器人夹紧机构轻量化设计

Lightweight Design of Clamping Mechanism of Pipe Truss Weld Quality Inspection Robot

为减轻管桁架焊缝质量检测机器人结构重量,文章在分析夹紧机构运动约束及其关键零部件强度约束的基础上,建立夹紧机构各主要零部件力学和运动学模型,运用惩罚函数法对夹紧机构尺寸进行优化。支腿在夹紧机构的零部件中质量较大,经静力学分析发现支腿材料冗余较大,采用拓扑优化进一步减轻支腿重量。结果表明:夹紧架、支腿和底板尺寸分别为60mm、88mm、111mm时,结构最为紧凑;拓扑优化重构后,支腿的质量减轻了121.2g,总质量减少了16.16%。

In order to reduce the structural weight of the pipe truss weld quality inspection robot,based on the analysis of the motion constraints of the clamping mechanism and the strength constraints of its key components,the mechanical and kinematic models of the main components of the clamping mechanism are established,and the dimensions are optimized by using the penalty function method.Legs have a large weight in the parts of the clamping mechanism,and it is found by static analysis that the material redundancy is large,so topology optimization is adopted to further reduce the weight.The results show that the structure is the most compact when the dimensions of clamping frame,support leg and bottom plate are 60mm,88mm and 111mm respectively.After topology optimization and reconstruction,the weight of legs is reduced by 121.2g and the total weight is reduced by 16.16%.