摘要
为了减轻SCARA机器人质量,提升机器人的整体性能,该文提出一种机器人力学仿真分析及拓扑优化的轻量化设计思路。首先分析了机器人在运行条件下的大臂受力情况。然后采用ABAQUS软件对SCARA机器人大臂关节进行静力学分析与模态分析。最后根据分析结果使用ABAQUS中的拓扑优化功能进行结构优化。分析结果显示,优化后的大臂实际减重1.189 kg。整体变形量降低21.1%,低阶固有频率明显增加。此次优化分析实现了大臂轻量化设计以及结构性能改善的目的。
In order to reduce the quality of the SCARA robot and improve the overall performance of the robot,a lightweight design idea of robot mechanics simulation analysis and topology optimization is proposed in this paper.The force on the arm of the robot under operating conditions is analyzed,and the statics analysis and mode analysis of the SCARA robotic large arm joints are conducted by using ABAQUS software.Then the topology optimization unit in ABAQUS is used to optimize the structure according to the analysis results.The analysis results show that the actual weight loss of the optimized boom is 1.189kg.Through the statics analysis and verification,it is found that the overall deformation is reduced by 21.1%and the low-order natural frequency is significantly increased.Through this optimization analysis,the purpose of reducing the boom weight and improving its structural performance is achieved.
作者
王宁
WANG Ning(Foshan Rossum Robotics Co.,Ltd,Foshan 528000,Guangdong,China)
出处
《机械研究与应用》
2023年第6期8-11,共4页
Mechanical Research & Application
作者简介
王宁(1993-),男,吉林通化人,硕士,工程师,研究方向:机器人结构设计及优化仿真。
