Dynamic Analysis And Topology Optimization Of Robot Arm

Lightweight is one of the most hot theme in machinery and equipment manufacturing,because of the obvious of energy saving and efficiency improvement. In recent years,equipment manufacturers are trying to “reduce weight” for equipment, various of lightweighttechnology has been used in their situation.Lighter robot can lower their weight load and reduce the production cost under therequirement of high speed and high precision. In this paper, a research on MOTOMAN-HP20D was made for dynamic characteristics and arm optimization design.This paper mainlyincludes the following parts:First DH coordinates and kinematics equation of MOTOMAN-HP20D was established,and got the robot kinematics solution. Use the inverse kinematic solution to get the angel ofall six joints under specified track, drive the virtual prototyping model to verify thecorrectness of the inverse. Get the modal characteristics by modal experiment. Through thecomparison with experimental results, a more precise flexible virtual prototyping model wasestablished.After the dynamics and the finite element analysis, confirmed L arm as the optimizedobject, then get its load spectrum. Topology optimization design was taken for L arm,according to the design result, two new structures was gotten. Contrast the performance of thetwo new structures in finite element software and dynamic software, obtained the optimumdesign of robot arm.This research contains the theory of robotics, multibody dynamics and the structuraltopology optimization. Based on the combination of their theories, a method that combinationtopology optimization and robot dynamic was gotten. And we get a lightweight but the sameperformance robot structure. The research result of the thesis can be used in the mechanicalequipment lightweight and cost reduction.