机械臂铣削加工运动分析和拓扑优化设计
Analysis of Motion and Topological Optimization Design of Industrial Robotic Arms

工业机械臂在机械制造与产品生产中扮演着非常重要的角色，通常在打磨、铣削、抛光和搬运等领域均有运用，机械臂的运用必须建立在对其运动学知识的熟练掌握。本文以KUKA机械臂为研究对象，使用D-H参数法建立机械臂的数学模型，进行正逆向运动学的推导，并且考虑该机器人用于铣削加工时，使用Ansys进行有限元分析，发现连杆2设计较为保守，可以进行一定程度的拓扑优化，优化后连杆2质量降低28.8 kg。通过理论分析建模构建的KUKA机械臂的正逆向运动学模型能够使用关节角度计算机器人末端位置，或者已知末端位置求解关节角度，对六轴机械臂运动学建模有参考意义。
Industrial robotic arms play a very important role in mechanical manufacturing and production. They are commonly used in grinding, milling, polishing, and handling, among other areas. The use of robotic arms must be based on a good understanding of kinematics. This paper takes the KUKA robot arm as the research object and uses the D-H parameter method to establish a mathematical model of the robot arm. The forward and inverse kinematics are derived, and finite element analysis is conducted using ANSYS when considering the robot arm used for milling operations. Link 2 is designed too conservatively, and topological optimization is possible. After optimization, the mass of link 2 is reduced by 28.8 kg. The forward and inverse kinematics model of the KUKA robot arm built through theoretical analysis and modeling can be used to calculate the robot end effector’s position or to solve the joint angles given the end effector position. It provides reference for the kinematics modeling of six-axis robot arms.