Link Group Parametric Modeling and Optimal Design in Multi-arm Mechanical Arm System

Qi Zhu; Hua Long; Zhihong Zhou; Qichuang Zhang

doi:10.16578/j.issn.1004.2539.2021.03.013

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Link Group Parametric Modeling and Optimal Design in Multi-arm Mechanical Arm System

Design· Calculation | 更新时间：2022-11-10

- Link Group Parametric Modeling and Optimal Design in Multi-arm Mechanical Arm System
- Journal of Mechanical Transmission Vol. 45, Issue 3, Pages: 75-81(2021)
- 作者机构：
  
  1.湖南工业职业技术学院机械工程学院，湖南长沙 410208
  2.湖南集讴重工科技有限公司，湖南长沙 410100
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.03.013
  CLC：
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朱奇,龙华,周志红等.多臂节机械臂架系统连杆组参数化建模及优化设计[J].机械传动,2021,45(03):75-81.

Zhu Qi,Long Hua,Zhou Zhihong,et al.Link Group Parametric Modeling and Optimal Design in Multi-arm Mechanical Arm System[J].Journal of Mechanical Transmission,2021,45(03):75-81.
朱奇,龙华,周志红等.多臂节机械臂架系统连杆组参数化建模及优化设计[J].机械传动,2021,45(03):75-81. DOI： 10.16578/j.issn.1004.2539.2021.03.013.

Zhu Qi,Long Hua,Zhou Zhihong,et al.Link Group Parametric Modeling and Optimal Design in Multi-arm Mechanical Arm System[J].Journal of Mechanical Transmission,2021,45(03):75-81. DOI： 10.16578/j.issn.1004.2539.2021.03.013.

摘要

针对多臂节机械臂架系统连杆计算效率不高，优化设计手段保守的问题，以混凝土泵车臂架作为典型工程装备部件，将臂节之间的油缸及连杆作为整体考虑成连杆组，利用ANSYS APDL语言对连杆组进行参数化建模，并在多工况下进行优化分析，得到连杆组的最优结构模型；通过结构应力试验，验证了计算方法的可行性。结果表明，参数化建模及优化设计的方法大大提高了连杆的计算效率，为多臂节机械臂架系统连杆的设计提供了一种可行且有效的方法，也为其他具有类似结构的产品设计提供了重要参考。

Abstract

Aiming at the problems of low calculation efficiency and conservative optimization design method of link in multi-arm mechanical arm system， taking the concrete pump truck as a typical engineering equipment component， the cylinder and link between the arm units are considered as one link group， the ANSYS APDL language is applied for the parametric modeling， and the optimization analysis is carried out under multiple working conditions， the optimal structure model of the link group is obtained. The feasibility of the calculation method is verified by the structural stress test. The results show that， the calculation efficiency of links is greatly improved with the methods of parametric modeling and optimal design， a feasible and effective method is provided for the design of links in the multi-arm manipulator system， and an important reference is provided for the design of components with similar structures.

关键词

多臂节机械臂架系统连杆组ANSYSAPDL参数化建模优化设计

Keywords

Multi-arm mechanical arm systemLink groupANSYS APDLParametric modelingOptimal design

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