Strength Analysis and Optimization Design of Grab Manipulator
Taking DOBOT Magician robot manipulator as the research object,in order to reduce its mass and material consump-tion,the optimization design of its structure was studied by using the method of size optimization and topology optimization.First-ly,modeling software was used to build parameterized models of three groups of robot forearms,which were imported into the Workbench for stress analysis and bending stiffness analysis.The results of three groups were compared and analyzed to deter-mine the dangerous working conditions.Then,the sensitivity analysis of the forearm parameters under dangerous working condi-tions was carried out by taking mass,deformation and stress as the target parameters,and the parameters that had the greatest influence on the target parameters were obtained.With these parameters as the design variables,the response surface optimization method and topology optimization method were used to optimize the size and structure of the forearm proxy model.The optimiza-tion results show that:on the premise of ensuring the accuracy and strength,the weight of the forearm is reduced by 32.8%,the maximum stress is reduced by 21.1%,the maximum deformation is reduced by 24.3%,and the bending stiffness is increased by 31.8%.The lightweight of the forearm is successfully realized.At the same time,this study also provides a feasible implementa-tion scheme flow for similar optimization design.
Lightweight DesignFinite Element MethodSensitivity AnalysisResponse Surface OptimizationTopology Optimization
万方数据
维普
