摘要
钢质壁面作业机器人主要在垂直或倾斜的高空环境下进行清洁、探伤、焊接、除锈等作业,具有较高的轻量化和稳定性要求。机器人机械手小臂是连接大臂和执行末端的重要部件,具有外形尺寸大、板材厚度小和质量占比高的特点,整体受力大且长期处于振动状态,对结构的强度、刚度和振动等结构特性有较高要求。为对钢质壁面作业机器人机械手的小臂结构进行减重及提升结构特性,基于变密度法的优化算法,利用ANSYS Workbench有限元软件实现小臂结构的拓扑优化,进行轻量化设计。分析不同优化方案,得到同时考虑结构静、动力学性能的双目标能有效优化小臂结构。小臂结构优化设计后的质量下降了6.84%,等效应力降低了40.70%,总变形缩小14.43%,1阶固定频率增幅1.73%,达到轻量化降重效果,结构特性同时得以明显改善。研究结果有助于避免结构设计的盲目性,为下一步机器人整体结构的设计与优化提供思路,可为同类产品结构设计提供参考。
The steel wall operation robot mainly carries out cleaning,flaw detection,welding,rust removal and other operations in the vertical or inclined high altitude environment,which has high lightweight and stability requirements.The robot manipulator arm is an important component connecting the large arm and the end of execution.It has the characteristics of large shape size,small plate thickness and high mass ratio.The overall force is large and is in the vibration state for a long time,and has high requirements on the strength,stiffness,vibration and other structural characteristics of the structure.In order to reduce the weight and improve the structural characteristics of the small arm structure of the steel wall working robot manipulator,the topology optimization of the small arm structure is realized by using ANSYS Workbench finite element software based on the optimization algorithm of the variable density method for lightweight design.By analyzing different optimization schemes,it is shown that the dual objective of considering both static and dynamic performance of the structure can effectively optimize the small arm structure.After the optimized design of the forearm structure,the quality of the arm decreased by 6.84%,the equal effect force reduced by 40.70%,the total deformation reduced by 14.43%,the first-order fixed frequency increased by 1.73%,achieving the lightweight weight reduction effect,and the structural characteristics are significantly improved at the same time.The results can help to avoid the blindness of structural design,provide ideas for the next design and optimization of the overall structure of the robot,and can provide reference for the structural design of similar products.
作者
梁康养
严谨
庞翠娟
Liang Kangyang;Yan Jin;Pang Cuijuan(College of Ocean Engineering and Energy,Guangdong Ocean University,Zhanjiang,Guangdong 524088,China;College of Shipping and Maritime Science,Guangdong Ocean University,Zhanjiang,Guangdong 524005,China)
出处
《机电工程技术》
2023年第10期145-148,共4页
Mechanical & Electrical Engineering Technology
基金
广东省自然科学基金资助项目(2022A1515011562)
广东省促进经济高质量发展专项(粤融办函[2020]161号,GDNRC[2021]56)
湛江市科技计划项目(2020B01049)。
关键词
钢质壁面作业机器人
小臂
拓扑优化
steel wall working robot
small arm
topology optimization
