Topology optimization method and lightweight design of anthropomorphic manipulator

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 装备制造技术研究室

	Topology optimization method and lightweight design of anthropomorphic manipulator
	Wu HT(吴浩廷)1,2,3; Yin M(尹猛)1,3,4; Zhao ZL( 赵志亮)1,2,3; Xu ZG(徐志刚)1,3
	2019
会议日期	October 25-27, 2019
会议地点	Xi'an, China
页码	1-8
英文摘要	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.
产权排序	1
会议录	2019 2nd International Conference on Computer Information Science and Artificial Intelligence, CISAI 2019
会议录出版者	IOP
会议录出版地	Bristol, UK
语种	英语
ISSN号	1742-6588
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26413]
专题	沈阳自动化研究所_装备制造技术研究室
通讯作者	Wu HT(吴浩廷)
作者单位	1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 2.School of Mechanical Engineering and Automation Northeastern University, Shenyang 110016, China 3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 4.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式 GB/T 7714	Wu HT,Yin M,Zhao ZL,et al. Topology optimization method and lightweight design of anthropomorphic manipulator[C]. 见:. Xi'an, China. October 25-27, 2019.