Research on Adsorption Structure of Wall Climbing Robot with Variable Density Topology Optimization
-
摘要: 针对目前爬壁机器人自身重量过重、机身结构过于复杂的问题, 提出一种爬壁机器人吸附结构变密度拓扑优化法。通过对爬壁机器人吸附于壁面时影响较大的主要结构部件进行三维建模, 引入变密度拓扑优化法对所选用的部件在Ansys Workbench软件中进行结构优化。根据机器人工作实际情况设置边界条件和载荷, 合理去除爬壁机器人主体部件中对结构强度影响不大的区域。根据优化结果重建模型并和原始结构模型进行应力分析对比, 从而实现对爬壁机器人主体结构的拓扑优化。将优化后的吸附面结构与优化前的吸附面结构在ANSYS中对比, 在保证爬壁机器人底板强度一致的基础上达到轻量化的目的, 有助于提高爬壁机器人的灵活性和运动控制能力。Abstract: Aiming at the problems that the current wall-climbing robots are too heavy and the fuselage structure is too complicated, a variable-density topology optimization method for wall-climbing robot adsorption structure is proposed. Through the three-dimensional modeling of the main structural components whose weight have great influence when the wall-climbing robot is adsorbed on the wall surface, the variable density topology optimization method is introduced to optimize the structure of the selected components in Ansys Workbench software. We set the boundary conditions and loads according to the actual working conditions of the robot, and reasonably remove the areas in the main parts of the wall-climbing robot that have little effect on the structural strength. The model is reconstructed according to the optimization results and compared with the original structural model for the stress analysis, so as to achieve topological optimization of the main structure of the wall-climbing robot. The optimized adsorption surface structure and the original adsorption surface structure were compared in ANSYS to achieve the purpose of lightweight on the basis of ensuring the consistent strength of the bottom plate of the wall-climbing robot, which is helpful to improve the flexibility and motion control ability of the wall-climbing robot.
-
表 1 优化前后负载底板变化
参数 优化前 优化后 优化率/% 质量/kg 0.95 0.49 51.8 体积/m3 1.2×10-4 6.2×10-5 51.8 应力/MPa 26.7 29.6 - 最大形变量/mm 0.083 0.087 - 
下载: 导出CSV
-
[1] BENDS∅E M P, KIKUCHI N. Generating optimal topologies in structural design using a homogenization method[J]. Computer Methods in Applied Mechanics and Engineering, 1988, 71(2): 197-224 doi: 10.1016/0045-7825(88)90086-2 [2] 王平, 张广鹏, 尉飞, 等. 无人机惯导减振系统设计及其支架拓扑优化[J]. 机械科学与技术, 2018, 37(11): 1744-1749 https://www.cnki.com.cn/Article/CJFDTOTAL-JXKX201811017.htmWANG P, ZHANG G P, WEI F, et al. Vibration isolation design and bracket topology optimization for UAV inertial navigation system[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(11): 1744-1749 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JXKX201811017.htm [3] DEATON J D, GRANDHI R V. A survey of structural and multidisciplinary continuum topology optimization: post 2000[J]. Structural and Multidisciplinary Optimization, 2014, 49(1): 1-38 doi: 10.1007/s00158-013-0956-z [4] WANG M Y, WANG X M, GUO D M. A level set method for structural topology optimization[J]. Computer Methods in Applied Mechanics and Engineering, 2003, 192(1-2): 227-246 doi: 10.1016/S0045-7825(02)00559-5 [5] 庄春刚, 熊振华, 丁汉. 基于水平集方法和von Mises应力的结构拓扑优化[J]. 中国机械工程, 2006, 17(15): 1589-1595 doi: 10.3321/j.issn:1004-132X.2006.15.013ZHUANG C G, XIONG Z H, DING H. Structural topology optimization based on level set method and von Mises stress[J]. China Mechanical Engineering, 2006, 17(15): 1589-1595 (in Chinese) doi: 10.3321/j.issn:1004-132X.2006.15.013 [6] HUANG X, XIE Y M. Bi-directional evolutionary topology optimization of continuum structures with one or multiple materials[J]. Computational Mechanics, 2009, 43(3): 393-401 doi: 10.1007/s00466-008-0312-0 [7] SIGMUND O, MAUTE K. Topology optimization approaches[J]. Structural and Multidisciplinary Optimization, 2013, 48(6): 1031-1055 doi: 10.1007/s00158-013-0978-6 [8] BENDS∅E M P, SIGMUND O. Topology optimization theory, methods and application[M]. Berlin: Springer, 2003 [9] HASSANI B, HINTON E. A review of homogenization and topology optimization Ⅲ-topology optimization using optimality criteria[J]. Computers & Structures, 1998, 69(6): 739-756 http://www.sciencedirect.com/science/article/pii/S0045794998001333 [10] 王文玥, 赵清海, 张洪信, 等. 比例-积分-微分控制算法求解结构拓扑优化问题[J]. 机械科学与技术, 2021, 40(2): 223-229WANG W Y, ZHAO Q H, ZHANG H X, et al. Proportional-integral-differential control method on solving structural topology optimization problems[J]. Mechanical Science and Technology for Aerospace Engineering, 2021, 40(2): 223-229 (in Chinese) [11] 闫晓磊, 谢露, 陈佳文, 等. 一种密度约束的拓扑优化方法[J]. 机械科学与技术, 2021, 40(3): 350-355YAN X L, XIE L, CHEN J W, et al. A density-constrained topology optimization method[J]. Mechanical Science and Technology for Aerospace Engineering, 2021, 40(3): 350-355 (in Chinese) [12] LUO Y J, XING J, KANG Z. Topology optimization using material-field series expansion and Kriging-based algorithm: An effective non-gradient method[J]. Computer Methods in Applied Mechanics and Engineering, 2020, 364: 112966 doi: 10.1016/j.cma.2020.112966 [13] LIM J, YOU C, DAYYANI I. Multi-objective topology optimization and structural analysis of periodic spaceframe structures[J]. Materials & Design, 2020, 190: 108552 http://www.sciencedirect.com/science/article/pii/S026412752030085X [14] 胡启国, 周松. 考虑刚柔耦合的工业机器人多目标可靠性拓扑优化[J]. 计算机集成制造系统, 2020, 26(3): 623-631 https://www.cnki.com.cn/Article/CJFDTOTAL-JSJJ202003005.htmHU Q G, ZHOU S. Multi-objective reliability topology optimization analysis of rigid-flexible coupling industrial robots[J]. Computer Integrated Manufacturing Systems, 2020, 26(3): 623-631 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JSJJ202003005.htm [15] 聂文建. 基于变密度拓扑优化方法的算法改进研究[D]. 大连: 大连理工大学, 2019NIE W J. Research on algorithm modifications based on density-based topology optimization[D]. Dalian: Dalian University of Technology, 2019 (in Chines) -
点击查看大图
图(18) / 表(3)
计量
- 文章访问数: 201
- HTML全文浏览量: 76
- PDF下载量: 59
- 被引次数: 0
