Lightweight Design of Clamping Mechanism of Pipe Truss Weld Quality Inspection Robot
In order to reduce the structural weight of the pipe truss weld quality inspection robot,based on the analysis of the motion constraints of the clamping mechanism and the strength constraints of its key components,the mechanical and kinematic models of the main components of the clamping mechanism are established,and the dimensions are optimized by using the penalty function method.Legs have a large weight in the parts of the clamping mechanism,and it is found by static analysis that the material redundancy is large,so topology optimization is adopted to further reduce the weight.The results show that the structure is the most compact when the dimensions of clamping frame,support leg and bottom plate are 60mm,88mm and 111mm respectively.After topology optimization and reconstruction,the weight of legs is reduced by 121.2g and the total weight is reduced by 16.16％.
NETL
NSTL
万方数据
