Structural Analysis And Optimization Design Of Light Manipulator

Robots are widely used in the production and life,and play an important role in promoting the progress of human society.Light Manipulator is quickly developed in the"2025" China manufacturing background,different from the traditional robot,the robot has the advantages of light quality,light covers,high precision,large load to weight ratio and convenient installation etc.In this paper,Light Manipulator is taken as the research object,the structure analysis and design of the manipulator are carried out,and the optimal design of the manipulator is carried out on the basis of structural analysis.First of all,the modular design of the manipulator is analyzed,which is divided into two modules according to the joint of the manipulator,the whole joint module has motor,reducer,sensors and other components.The power source of the Light Manipulator,the motor,reducer,encoder and other important units were selected.The optimal design of the lightweight manipulator is studied.The topology optimization shows that the manipulator can find the part which can be removed.On the basis of topology optimization,parameter optimization is carried out,and the optimal solution is found under the condition of the deformation and strength being ensured.Secondly,the static analysis of the key parts and the whole parts of the manipulator is carried out.Through the Ansysworkbench software,the maximum stress and the maximum deformation of the key parts and the whole parts of arm are obtained.The rationality of the structure of the manipulator is verified by modal analysis,and the resonance phenomenon is avoided.Thirdly,using the improved D-H coordinates to carry on the kinematics analysis of the Light Manipulator,the workspace of the manipulator is analyzed based on the Monte Carlo method.The inverse solution of the manipulator is solved by the analytic method,and the inverse solution of the manipulator is solved by the RBF neural network algorithm,which provides a new way for solving the inverse solution.The Jacobi matrix is established to reflect the relationship between the operating space velocity and the joint space velocity.The dynamics of the manipulator is deduced by Lagrange method,and the dynamic equations of the six degree of freedom manipulator are obtained.The dynamic simulation of the manipulator is carried out by using ADAMS simulation software,and the curves of the force and torque of each joint are obtained.Finally,the heat dissipation problem of manipulator is studied.According to the design scheme,the design elements of the cooling circuit are designed,and then the cooling parameters of the manipulator are designed.The finite element simulation software is used to simulate the thermal performance of the second joints.