Structure Finite Element Analysis And Optimization Of Industry Robot

The industrial robot represents the highest achievement of automatic control,which have significantly enhanced the factory environment and raised the industrial productivity.It presents very important significance for development of manufacturing.During the design of the robot,topology optimization would be quite influential.Based on the topology optimization,the best structure can be found and the cost is reduced.In this paper,the kinematics and dynamics of a robot are analyzed and then the structures of key components are analyzed.At the same time,the key components under different working conditions are optimized.Its specific research content is as follows:Based on the D-H parameter method,the link coordinate system of a type of robot is established and the forward kinematics expression is obtained.Then the forward kinematics and the inverse kinematics are analyzed and solved.The industrial robot dynamics is analyzed and simulated.According to the actual situation,we can get the maximum value of the force and moment during the process of stretch out and draw back of the robots,providing references for the following static analysis.The static analysis of the key parts is carried out.According to establishing the optimization mathematical model whose objective function is maximum stiffness,the structures of the key components are optimized.The big arm and small arm are grouped into two kinds of structures,one is welding and the other is casting.And their structures are optimized under different loading conditions respectively.So the geometric models with different topology are obtained.The modal analysis of key parts is implemented.The optimization mathematical model is established whose objective function is maximum stiffness and natural frequency.And the structures of the key components are optimized.Eventually,the geometric models with different topological holes are generated.Based on the optimization results,the key parts are designed,and the finite analyses are implemented.It has been clear that the structure possessing spiral topology has the best performance in the same mass condition.The stress of the main arm and the second arm with the spiral topology structure decreases 60.1% and 23.4% respectively.Analogously,the total displacement decreases 24.3% and 50.9% respectively;fundamental frequency increases 6.8% and 2.7% respectively.The mass of optimal base deceases 9.1%;the stress and displacement of the optimal base decreases 34.2%,15.7% respectively;the fundamental frequency increases 13.5%.Results show that the optimized structures meet the requirements and achieve the goal of lightweight.