摘要
以六自由度串联机械臂为优化设计对象,从材料轻量化和结构轻量化两个方面进行轻量化设计。首先,在极限工况下分别对以铝合金和3D打印塑胶为材料的机械臂进行探索性拓扑优化,并基于结果对比分析,选择3D打印塑胶材料作为机械臂的设计材料;然后,在满足刚度与强度要求的条件下,针对两种极限工况依次采用尺寸优化、拓扑优化方法对以3D打印塑胶为设计材料的机械臂进行轻量化设计;最后对其进行几何重构和仿真验证。结果表明:轻量化设计后的机械臂满足刚度、强度要求,质量减轻26.5%,实现了轻量化目标。
Taking a six-dof tandem manipulator as the optimization object,the lightweight design is carried out from the aspects of the material lightweight and structure lightweight.Firstly,preliminary topological optimization is carried out for the manipulators of aluminum alloy material and 3D printing plastic material respectively,under extreme operating conditions.Based on the contrastive analysis of the optimization results,3D printing plastic is selected as the manipulator's design material.Then,under the condition that the stiffness and strength requirements are met,the manipulator of 3D printing plastic material is designed with the size optimization and topology optimization methods for the two extreme operating conditions.Finally,geometric reconstruction and simulation verification are carried out.The results show that the lightweight robot arm with the mass reduction by 26.5%meets the requirements concerning stiffness and strength,and the goal of lightweight is achieved.
作者
吕鑫
杨永泰
曾文浩
徐大伟
Lv Xin;Yang Yongtai;Zeng Wenhao;Xu Dawei(College of Mechatronic Engineering,North University of China, Shanxi Taiyuan, 030051, China;Quanzhou Institute of Equipment Manufacturing,Haixi Institutes, Chinese Academy of Sciences, Fujian Quanzhou, 362200, China)
出处
《机械设计与制造工程》
2020年第12期5-10,共6页
Machine Design and Manufacturing Engineering
基金
福建省中科院STS计划配套项目(2016T3023,2018T3020)
国家重点研发计划资助项目(2016YFC1100502)。
关键词
机械臂
轻量化
拓扑优化
增材制造
manipulator
lightweight
topology optimization
additive manufacturing
