一种码垛机器人小臂的轻量化设计.pdfVIP

机械工程师

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一种码垛机器人小臂的轻量化设计

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董庆运，靳刚，谭斌

（天津职业技术师范大学a.工程实训中心；b.机械工程学院，天津300222）

摘要：为降低码垛机器人小臂质量，提高其动态性能，降低能耗。基于有限元静力学分析、模态分析，以质量最小为优化目标，

以结构参数为设计变量，以第一阶固有频率不降低、最大合位移和最大等效应力允许值为约束条件，利用实验设计和响应面法建立目标

函数和约束函数的代理模型；通过优化求解，得到小臂的优化模型。通过对比分析，在保证固有频率、结构刚度和强度在允许范围内的情

况下，小臂的质量减轻了41.89%。文中提出的优化设计方法具有明显效果。

关键词：码垛机器人；小臂；静力学分析；模态分析；轻量化设计

中图分类号:TH122；TG659文献标志码:粤文章编号：员园园圆原圆猿猿猿（圆园23）12原园053原园3

LightweightDesignofaPalletizingRobotForearm

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DONGQingyun,JINGang,TANBin(TianjinUniversityofTechnologyandEducation,

a.EngineeringTrainingCente;b.InstituteofMechanicalEngineering,Tianjin300222,China)Abstract:Inordertoreducethemassof

thepalletizingrobotsforearm,improveitsdynamicperformanceandreduceenergyconsumption,basedonfinite

elementstaticanalysisandmodalanalysis,theminimummassisusedastheoptimizationgoal,thestructur