Topological Optimization of R- Robot Structure Based on Homogenization Method

DOI

10.2991/fmsmt-17.2017.226How to use a DOI?

Keywords

R- robot, thickness, topology optimization, stiffness

Abstract

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.

Copyright

© 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/).

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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  - 10.2991/fmsmt-17.2017.226
ID  - Wang2017/04
ER  -