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有限元和拓扑联合优化方法及其在机器人结构轻量化设计中的应用

李锦忠 唐宇存 陆秋龙 张建法 匡绍龙

李锦忠, 唐宇存, 陆秋龙, 张建法, 匡绍龙. 有限元和拓扑联合优化方法及其在机器人结构轻量化设计中的应用[J]. 机械科学与技术, 2019, 38(11): 1663-1668. doi: 10.13433/j.cnki.1003-8728.20190048
引用本文: 李锦忠, 唐宇存, 陆秋龙, 张建法, 匡绍龙. 有限元和拓扑联合优化方法及其在机器人结构轻量化设计中的应用[J]. 机械科学与技术, 2019, 38(11): 1663-1668. doi: 10.13433/j.cnki.1003-8728.20190048
Li Jinzhong, Tang Yucun, Lu Qiulong, Zhang Jianfa, Kuang Shaolong. A Method Combining Finite Element and Topology Optimization and Application in Lightweight Structure Design of Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2019, 38(11): 1663-1668. doi: 10.13433/j.cnki.1003-8728.20190048
Citation: Li Jinzhong, Tang Yucun, Lu Qiulong, Zhang Jianfa, Kuang Shaolong. A Method Combining Finite Element and Topology Optimization and Application in Lightweight Structure Design of Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2019, 38(11): 1663-1668. doi: 10.13433/j.cnki.1003-8728.20190048

有限元和拓扑联合优化方法及其在机器人结构轻量化设计中的应用

doi: 10.13433/j.cnki.1003-8728.20190048
基金项目: 

国家高技术研究发展计划项目(863计划) 2015AA043204

国家自然基金项目 U1713218

国家自然基金项目 1375090

详细信息
    作者简介:

    李锦忠(1993-), 硕士研究生, 研究方向为机器人设计、结构优化, 1960558492@qq.com

    通讯作者:

    匡绍龙, 副教授, 博士, 硕士生导师, kuangshaolong@gmail.com

  • 中图分类号: TP242

A Method Combining Finite Element and Topology Optimization and Application in Lightweight Structure Design of Robot

  • 摘要: 针对协作机器人轻量化和动态特性的问题,本文提出了一种联合整体有限元分析和局部拓扑优化的机器人轻量化方法,并将其应用于设计一款六自由度协作机器人。该方法通过对整体进行有限元分析得到要优化部件的载荷及边界条件,从而基于上述条件对该部件进行拓扑优化,得到优化结构。优化结果表明优化后结构相对于初始结构整体减重4.83 kg,仿真结果为末端位移减小至2.57 mm,实测为2.88 mm,均达到目标要求,同时将整机六阶固有频率提高11.30%左右,高于当前文献所采用的拓扑优化所提高的1.69%。最后面向交叉韧带定位实验证明了该方法的有效性。
  • 图  1  方法流程图

    图  2  机器人初步结构模型

    图  3  初始模型整体有限元静力学分析

    图  4  初始模型模态分析

    图  5  机器人变形等长度分配图

    图  6  机器人实体图

    图  7  机器人负载变形量检测

    图  8  手术实验平台

    图  9  实验导航定位界面

    表  1  各方法优化结果与分析表

    本文方法 文献方法
    优化结果
    后处理
    静力学分析
    模态分析
    下载: 导出CSV

    表  2  优化结果对照表

    整机质量/kg 末端位移/mm 六阶频率/Hz
    初始结构 21.56 3.50 68.65
    单独约束拓扑法 17.78
    (-17.54%)
    2.53
    (-27.71%)
    69.81
    (+1.69%)
    整体有限元分析结合拓扑法 17.72
    (-17.82%)
    2.57
    (-26.57%)
    76.41
    (+11.30%)
    下载: 导出CSV

    表  3  小球坐标数据表 mm

    X Y Z L
    空载下小球位置 410 200 -650 794.103 3
    负载下小球位置 409.045 8 198.859 7 -647.433 1 791.222 6
    末端变形位移 - - - 2.880 7
    下载: 导出CSV
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出版历程
  • 收稿日期:  2018-11-27
  • 刊出日期:  2019-11-05

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