Open AccessTopology optimization method and lightweight design of anthropomorphic manipulator
Author(s) -
Haoting Wu,
Meng Yin,
Zhiliang Zhao,
Zhigang Xu
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1453/1/012068
Subject(s) - topology optimization , stiffness , rigidity (electromagnetism) , finite element method , computer science , parallel manipulator , deformation (meteorology) , process (computing) , reduction (mathematics) , topology (electrical circuits) , structural engineering , engineering , mathematics , robot , artificial intelligence , geometry , electrical engineering , operating system , physics , meteorology
The topology optimization method is adopted to realize the weight reduction of the mechanical arm under the rigidity condition. The typical configuration and load conditions of the manipulator are analyzed. The stiffness mass model of the part is established by the finite element analysis method, and the topology optimization of the part is carried out. On this basis, the optimization of the manipulator system is completed. The optimized art quality is reduced by 6.2% compared with the original model, and the stiffness meets the standard requirements. The method of combining virtual joint method with working space of the manipulator is proposed. The amount of end deformation after optimization of the manipulator is analyzed. The maximum deformation is 0.27mm, which meets the requirements. The optimization process provides a reference for the selection of the drive joint parts of the mechanical arm. According to this, the physical design of the mechanical arm is completed and the load test is carried out. The experiment shows that the mechanical arm can still achieve rapid response under the condition of a 2kg end load.