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工业机器人臂部静动态多目标拓扑优化设计研究

王春华 安达 赵东辉

王春华, 安达, 赵东辉. 工业机器人臂部静动态多目标拓扑优化设计研究[J]. 机械科学与技术, 2016, 35(2): 241-246. doi: 10.13433/j.cnki.1003-8728.2016.0215
引用本文: 王春华, 安达, 赵东辉. 工业机器人臂部静动态多目标拓扑优化设计研究[J]. 机械科学与技术, 2016, 35(2): 241-246. doi: 10.13433/j.cnki.1003-8728.2016.0215
Wang Chunhua, An Da, Zhao Donghui. Static-dynamic Multi-objective Optimization and Design of Topology of Industrial Robot's Arm[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(2): 241-246. doi: 10.13433/j.cnki.1003-8728.2016.0215
Citation: Wang Chunhua, An Da, Zhao Donghui. Static-dynamic Multi-objective Optimization and Design of Topology of Industrial Robot's Arm[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(2): 241-246. doi: 10.13433/j.cnki.1003-8728.2016.0215

工业机器人臂部静动态多目标拓扑优化设计研究

doi: 10.13433/j.cnki.1003-8728.2016.0215
基金项目: 

国家自然科学基金项目(51374120)资助

详细信息
    作者简介:

    王春华(1963-),教授,博士生导师,研究方向为机械设计及理论、机械系统动态特性与控制,897785216@qq.com

Static-dynamic Multi-objective Optimization and Design of Topology of Industrial Robot's Arm

  • 摘要: 为兼顾工业机器人臂部更高静动态特性和更低自重的要求,基于SIMP变密度法拓扑优化,运用相对差值的数学方法,构建了提高结构静态各工况刚度和动态各阶固有频率的多目标拓扑优化数学模型。以MOTOMAN-HP20工业机器人的L臂为研究对象,对其进行静动态多目标拓扑优化设计,获得L臂新结构方案。分析表明:L臂新结构静态各工况的刚度和动态各低阶固有频率都得到提高,同时L臂减重15.5%,实现了轻量化。并且相对差值法的运用有效避免了在多目标优化过程中大数量级目标支配优化结果的问题。
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出版历程
  • 收稿日期:  2014-04-30
  • 刊出日期:  2016-02-05

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