工业机器人大臂多目标拓扑优化
Multi-Objective Topology Optimization of Industrial Robot Arm

大臂件是关系码垛机器人能否实现轻量化的关键部件。为此，从设计层面探查，如何优化大部件的频率，求得刚度适宜且高质量的产品。将折衷规划与灰色关联两种分析方法结合起来，在静态条件下优化多目标拓扑，并结合实际工况分析出机器人的刚度性能和固有频率，从结构拓扑层面展开优化设计，初步确定大臂外廓的相关尺寸参数；而后通过优化单目标拓扑降低实况柔度，提升大臂所对应的固有频率。根据灰色综合关联分析法处理单目标拓扑优化结果，得到质量、刚度和固有频率的目标权重系数，参照折衷规划法进一步优化多目标拓扑，在优化分析所得结果的基础上再次对机器人大臂进行设计，获得最佳的结构。分析结果表明：在质量减少9.7%实现轻量化目标的同时，大臂低阶固有频率有所提高且刚度性能有所增强。
Large components are the key components related to whether the palletizing robot can achieve lightweight. To this end, from the design level, it is explored how to optimize the frequency of large components to obtain products with suitable stiffness and high quality. Combining the two analysis methods of trade-off planning and gray correlation, the multi-objective topology is optimized under static conditions, and the stiffness performance and natural frequency of the robot are analyzed in combination with the actual working conditions. Profile related dimension parameters. Then, by optimizing the single-objective topology, the real-time compliance is reduced, and the natural fre-quency corresponding to the boom is increased. According to the grey comprehensive correlation analysis method, the single-objective topology optimization results are pro- cessed, and the objec-tive weight coefficients of mass, stiffness and natural frequency are obtained. The multi-objective topology is further optimized with reference to the compromise programming method, and the ro-bot arm is designed again on the basis of the results obtained from the optimization analysis to ob-tain the best structure. The analysis results show that the low-order natural frequency of the boom is improved and the stiffness performance is enhanced while the mass is reduced by 9.7% to achieve the lightweight goal.