Light-weight Robot Design Based On Muti-objective Topology Optimization

With the development of robot in the services,medical and other fields,interactive robots become be focused on the current researchers.Because ofinteractive robots sharing of working space with people,and coordination of the completion of operations,thus it needs to lightweight design to achieve low inertia,low impact of human-machine collision,etc.,to improve the security and good control performance inthe man-machine coordination process.On the basis of this,as the need of research,the study aims at the lightweight design of the structure.Adopting multi-objective topology optimization method,it designs and implements a human-computer interaction lightweight robot.The mainly research work are as follows.First of all,according to the application requirements of the robot,the configuration is analyzed and integrated,and the corresponding robot structure is designed.On the basis of this,the theory of robotics is used to analyze the kinematics of the robot.The kinematics model of the robot is established to analyze the positive solution and the inverse solution of the robot.The working space simulation of the robot is carried out to analyze the influence of the robot bar on the working space of the robot.The dimensional parameters of the robot are determined.And the three-dimensional structure of the robot is initially designed.Furthermore,on the basis of the topology optimization method,the topology optimization method of variable density methodand optimization algorithm of criterion method is proposed for the lightweight design of the robot.At the same time,for the problem of the weight of the robot,aiming at the optimal quality and inertia of the robot,the multi-objective topology optimization method is proposed,and the corresponding mathematical model is established.And MATLAB programming is used to verify the feasibility and effectiveness of the method.Moreover,for the robot designed of this study,the variable core topology optimization method which is based on mass and moment of inertia is used to optimize the relevant core parts.The optimization results show that the optimized joint strength of the joint is 50.83%and the moment of inertia is reduced by 39.72%.At the same time,in order to ensure the post-processing and important parts of the force to meet the using requirements,the finite element analysis and verification of the optimized results are carried out.The results show that the optimized parts and the main force components can meet the using requirements,having a good lightweight performance.Then,the other parts of the robot are also optimized for topology,and the final results are tested.The optimized components are applied to the overall configuration of the robot.The final robot is reduced to 18.67Kg by the original design is23.12Kg,the weight was reduced by 23.84%.The load weight ratio was provided from 1:4.62 to 1:3.73The effectiveness of the optimization algorithm is described.Finally,the designed robot is processed,manufactured,assembled and implemented,andthe experimental platform is built.On the basis of the CPA and MDH methods,the robot's related functions and performance are experimentally studied.The results show that the positioning accuracy of the robot is 1.42mm,the linear motion precision is 1.82mm,and the curve motion precision is 2.12mm,which can meet the design requirement.Theadmittance control experimentshows that this robot is suitable for the application.