Topological Optimization of R- Robot Structure Based on Homogenization Method
- https://doi.org/10.2991/fmsmt-17.2017.226How to use a DOI?
- R- robot, thickness, topology optimization, stiffness
R- robot arm is an important part of the robot to achieve the function, low stiffness seriously affect the accuracy and efficiency of work, so the requirement of stiffness is higher. In order to improve the rigidity, this paper put the arm structure as the research object to optimize. First of all, the relationship between the total deformation of the joint arms and the wall thickness of the arms are analyzed, get the optimal wall thickness and improving the structure of the arm, a new arm structure model is established. On this basis, the topology optimization method based on homogenization method is used to optimize the arm structure and get the final optimal structure. Finally, verification and analysis are carried out on the arms of a single-arm R- robot. The results show that the combination of two optimization methods can not only effectively reduce the arm weight, but also better improve the natural frequency, thereby increasing the stiffness The model and analysis conclusion of this paper will provide theoretical support for the actual improvement of the motion performance of the robot.
- © 2017, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Jianhua Wang AU - Wenxiu Tao AU - Zhifeng Liu AU - Congbin Yang PY - 2017/04 DA - 2017/04 TI - Topological Optimization of R- Robot Structure Based on Homogenization Method BT - Proceedings of the 2017 5th International Conference on Frontiers of Manufacturing Science and Measuring Technology (FMSMT 2017) PB - Atlantis Press SP - 1150 EP - 1157 SN - 2352-5401 UR - https://doi.org/10.2991/fmsmt-17.2017.226 DO - https://doi.org/10.2991/fmsmt-17.2017.226 ID - Wang2017/04 ER -