工业机器人臂部静动态多目标拓扑优化设计研究
Static-dynamic Multi-objective Optimization and Design of Topology of Industrial Robot's Arm

为兼顾工业机器人臂部更高静动态特性和更低自重的要求,基于SIMP变密度法拓扑优化,运用相对差值的数学方法,构建了提高结构静态各工况刚度和动态各阶固有频率的多目标拓扑优化数学模型。以MOTOMAN-HP20工业机器人的L臂为研究对象,对其进行静动态多目标拓扑优化设计,获得L臂新结构方案。分析表明:L臂新结构静态各工况的刚度和动态各低阶固有频率都得到提高,同时L臂减重15.5%,实现了轻量化。并且相对差值法的运用有效避免了在多目标优化过程中大数量级目标支配优化结果的问题。
To meet the requirements of better static-dynamic characteristics and lower weight for an industrial robot's arm, we use the SIMP(Solid Isotropic Microstructures with Penalization) topological optimization method the relative difference method to establish the mathematical model of the multi-objective topological optimization. We regard the improving stiffness under multi-conditions and natural frequencies as static and dynamic objectives. We study the L-shape arm of the MOTOMAN-HP20 industrial robot and optimize its static-dynamic topology, thus obtaining the new structure of the L-shape arm. The comparative analysis shows that both the stiffness of the L-shape arm under multi-conditions and its natural frequencies are improved, and that its weight decreases by 15.5%. The problem that the high order of magnitude dominates the multi-objective optimization results was solved by adopting the relative difference method