一种永磁吸附履带式爬壁机器人主体结构的变密度拓扑优化
Variable Density Topological Optimization of the Main Structure of a Permanent Magnet Adhesion Tracked Wall Climbing Robot
冯玉勇 1管殿柱 1宋新城 1王宪辉 1邓皓云1
作者信息
- 1. 青岛大学 机电工程学院,青岛 266071
- 折叠
摘要
针对爬壁机器人机身过重导致其运动灵活性差的问题,采用变密度法对爬壁机器人的主体结构进行拓扑优化,以降低机器人主体结构的质量.选择爬壁机器人主体结构质量占比大的关键部件进行变密度拓扑优化,并对优化结果进行有限元分析.分析结果表明,部件优化后结构最大变形量小于结构的许用变形量,最大静应力小于所用材料的许用强度,爬壁机器人主体结构质量由0.849 kg减少到0.673 kg,减轻了20.73%.
Abstract
The motion flexibility of wall-climbing robot is poor due to the heavy fuselage.In this paper,the topological optimization of the main structure of wall-climbing robot is carried out by using variable density method to reduce the quality of the main structure.The key components with large mass ratio of the main structure of the wall-climbing robot are selected for variable density topology optimization,and the optimization results are analyzed by finite element method.The results show that the maximum deformation of the structure is less than the allowable deformation of the structure,the maximum static stress is less than the allowable strength of the material used,and the mass of the main structure of the wall-climbing robot is reduced from 0.849 kg to 0.673 kg,a decrease of 20.73%.
关键词
爬壁机器人/变密度拓扑优化/有限元分析Key words
wall-climbing robot/variable density topology optimization/finite element analysis引用本文复制引用
出版年
2024
NETL
NSTL
维普
万方数据