东华大学机械工程学院;
为进一步减轻碳纤维复合材料(CFRP)和球墨铸铁(QT)混合结构机械臂的质量，提出基于拓扑优化和正交分析的混合结构机械臂关节法兰轻量化设计方法。创建六自由度工业机器人动力学模型，分析并求解机器人负载50 kg运动过程中关节所受载荷，并将最大载荷作为有限元分析的输入载荷。基于分析结果，对混合结构机械臂关节法兰进行拓扑优化，并结合加工工艺和正交分析试验，得到最优关节法兰模型。仿真和试验结果表明，当混合结构机械臂关节法兰周向开槽对数为3、轴向开槽个数为2、开槽为40°圆心角时，关节法兰质量、混合结构机械臂最大变形和最大应力相比优化前减少8.95%、2.46%和3.34%,满足机器人的运动性能要求。
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| 下载次数 | 被引频次 | 阅读次数 |
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基本信息:
DOI：10.19886/j.cnki.dhdz.2024.0186
中图分类号:TP241
引用信息:
[1]廖力,孟婥,张荣涛等.基于拓扑优化和正交分析的混合结构机械臂关节法兰设计[J].东华大学学报(自然科学版),2024,50(06):57-64.DOI:10.19886/j.cnki.dhdz.2024.0186.
基金信息:
江苏省重点研发计划(BE2023070)