一种SCARA机器人小臂优化设计
Optimization Design of a SCARA Robot Forearm
古明标 1张静2
作者信息
- 1. 东莞新友智能科技有限公司,东莞 523000
- 2. 东莞职业技术学院 现代工业创新实践中心,东莞 523808
- 折叠
摘要
以一种选择顺应性装配机器手臂(Selective Compliance Assembly Robot Arm,SCARA)为研究对象,利用仿真研究方法优化小臂结构.利用SolidWorks软件建立机器人三维结构模型,使用ANSYS软件对机器人进行模态分析,确定优化部件.利用遗传算法得到该机器人最优臂长,利用拓扑优化方法优化小臂结构.经分析,优化后的小臂强度、刚度和抗振性能明显增加,实现了对SCARA机器人重复定位精度和抑振能力的优化.
Abstract
A Selective Compliance Assembly Robot Arm(SCARA)was selected as the research object,and the structure of the arm was optimized by simulation.The three-dimensional structure model of the robot was established with SolidWorks software,and the modal analysis of the robot was carried out with ANSYS software to determine the optimal parts.The optimal arm length of the robot was obtained by genetic algorithm,and the forearm structure was optimized by topology optimization method.After analysis,the strength,stiffness and vibration resistance of the optimized forearm are significantly increased,and the repeated positioning accuracy and vibration suppression ability of SCARA robot are optimized.
关键词
选择顺应性装配机器手臂(SCARA)机器人/小臂优化/遗传算法/拓扑优化Key words
Selective Compliance Assembly Robot Arm(SCARA)robot/forearm optimization/genetic algorithm/topological optimization引用本文复制引用
基金项目
东莞市科技特派员项目(20231800500342)
出版年
2024
NETL
NSTL
维普
万方数据