A Method Combining Finite Element and Topology Optimization and Application in Lightweight Structure Design of Robot
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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。Abstract: A method of robot lightweight combining global finite element analysis and local topology optimization is proposed and applied to the design of a six-degree-of-freedom cooperative robot to solve the lightweight and dynamic characteristics. The method obtains the load and boundary conditions of the component to be optimized with finite element analysis on the whole, and then optimizes the topology based on the above conditions to obtain an optimal structure. The optimization results show that the optimal structure loses 4.83 kg compared with the initial structure. The simulation results show that the end displacement is reduced to 2.57 mm and the measured value is 2.88 mm, all of which can meet the target requirements. At the same time, the sixth-order natural frequency of the whole machine increased by about 11.30%, which is higher than the 1.69% improvement of the current literature. Finally, the effectiveness of this method was demonstrated by the anterior cruciate ligament positioning experiment.
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Key words:
- cooperative robot /
- lightweight /
- finite element analysis /
- topology optimization
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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%)
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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
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