Superposition Method for Structural Topology Optimization of Rigid Manipulator

Xiaorui Liu; Peixiang He; Guanghui Xie

doi:10.16578/j.issn.1004.2539.2021.11.008

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Superposition Method for Structural Topology Optimization of Rigid Manipulator

Theory·Reserach | 更新时间：2022-11-10

- Superposition Method for Structural Topology Optimization of Rigid Manipulator
- Journal of Mechanical Transmission Vol. 45, Issue 11, Pages: 46-50(2021)
- 作者机构：
  
  1.重庆电子工程职业学院智慧健康学院，重庆 401331
  2.西南大学工程技术学院，重庆 400715
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.11.008
  CLC：
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刘小瑞,何培祥,谢光辉.用于刚性机械手结构拓扑优化的叠加方法[J].机械传动,2021,45(11):46-50.

Liu Xiaorui,He Peixiang,Xie Guanghui.Superposition Method for Structural Topology Optimization of Rigid Manipulator[J].Journal of Mechanical Transmission,2021,45(11):46-50.
刘小瑞,何培祥,谢光辉.用于刚性机械手结构拓扑优化的叠加方法[J].机械传动,2021,45(11):46-50. DOI： 10.16578/j.issn.1004.2539.2021.11.008.

Liu Xiaorui,He Peixiang,Xie Guanghui.Superposition Method for Structural Topology Optimization of Rigid Manipulator[J].Journal of Mechanical Transmission,2021,45(11):46-50. DOI： 10.16578/j.issn.1004.2539.2021.11.008.

摘要

针对考虑动态载荷条件的刚性机器手连杆的拓扑优化问题，提出了一种类似于等效静载荷技术的综合拓扑叠加方法。该方法是将对应于不同角度位置的单个最佳拓扑叠加，以便在所有角度位置都有较好的综合效果；然后，进行归一化和再惩罚，以获得所需的体积分数。此外，利用图像处理技术进行后处理，可以降低应力值和几何复杂度。通过理论仿真，对该方法所得综合拓扑的性能进行了评估，并以3自由度工业机械手刚性连杆为例进行了验证。结果表明，体积分数降低30%的情况下可将关节转矩降低24.9%，同时，具有更好的挠度和应力值。与任何一种单个优化拓扑相比，综合拓扑的挠度和应力值降低了10%~25%。

Abstract

Aiming at the topology optimization problem of rigid robot hand connecting rod considering dynamic load conditions，a comprehensive topology superposition method similar to equivalent static load technology is proposed. In this method，a single optimal topology corresponding to different angular positions is superimposed，so as to have better comprehensive effect at all angular positions. Then normalization and re-punishment are carried out to obtain the required volume fraction. In addition，image processing technology is used for post-processing to reduce stress value and geometric complexity. The performance of the integrated topology obtained is evaluated by theoretical simulation，and verified by taking the rigid link of 3-DOF industrial manipulator as an example. The results show that when the volume fraction is reduced by 30%，the joint torque can be reduced by 24.9%，and the deflection and stress are better. Compared with any single optimized topology，the deflection and stress of the integrated topology are reduced by 10%~25%.

关键词

工业机械手拓扑优化刚性连杆等效静载荷动态载荷

Keywords

Industrial manipulatorTopology optimizationRigid connecting rodEquivalent static loadDynamic load

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