第8期 2017年8月
组合机床与自动化加工技术
Modular Machine Tool & Automatic Manufacturing Technique
文章编号：10012265(2017)08002504
D0I:10.13462/j. cnki. mmtamt.2017.08.006
棉桶更换机器人前臂有限元分析及拓扑优化
单铭志，杨前明1邵长新2，刘启强2
No.8 Aug.2017
（1.山东科技大学机械电子工程学院，山东青岛266590：2.青岛东昌纺机制造有限公司，山东青岛266540）
摘要：由于复合机器人受AGV承载、锂电电源功耗与自重设计限制，4轴机器人设计轻量化是其关键。前臂是棉桶更换复合机器人关键部件之一，文章以此为研究对象，在考虑满足设计强度、刚度的条件下，以前臂结构轻量化为首要设计考虑因素，建立前臂实体三位模型，利用有限元分析软件AN-SYS对前臂做静力学分析，获得危险工况下的应力和位移变化特性；采用OptiStruct软件对前臂进行拓扑优化，依据拓扑优化结果完成前臂结构的改进设计，并对优化后的模型做静力学分析。研究结果表明，优化后的设计方案最大应力、位移均有所减小；在满足强度、刚度设计要求的情况下，前臂重量减少18.4%，较好地实现了前臂轻量化目标，为课题后续产品研制提供了技术支持，也为同类技术产品设计提供了借鉴。
关键词：棉桶更换；机器人；ANSYS；有限元分析；拓扑优化
中图分类号：TH165；TG659
文献标识码：A
TheFinite Element Anslysis and Topological Optimization Design for Cotton Barrel Replacement Robot's Forearm
SHAN Ming-zhi',YANG Qian-ming",SHAO Chang-xin’,LIU Qi-qiang
(1. College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qing dao Shandong 266590, China; 2. Qingdao Dongchang Textile Machine Manufacturing Co., Ltd. , Qingdac Shandong 266540, China)
Abstract : 4-axis robot design lightweight is the key due to the composite robot is limited by AGV carrying parts of the cotton barrel replacement robot. The three-dimensional model of the Robot forearm has been es-tablished taking into account the overall design to meet the premise robot strength and stiffness, and taking the lightweight of forearm structure as the primary design considerations in this paper taking the forearm as the research object. The forearm statics analysis has been finished using the finite element software of AN-ee The topology optimization of forearm has been carried out by optistruct and the improved design of the struc-ture of the forearm has been achieved according to the topology optimization results the static analysis of the optimized model also been made. Research results show that the maximum stress and displacement of the optimized design scheme have been reduced; The weight of the forearm has been decreased by 18. 4% and better to achieve the light weight goal of the forearm under the condition of meeting the design requirement of strength and stiffness. This study provided technical support for the follow-up product development of the subject and also provided a reference for design of similar technology products
Key words: cotton barrel replacement; robot; ANSYS; finite element analysis; topology optimization
引言 0
我国纺织行业的劳动密集型、高温度、高湿度和高噪声与劳动力季节性紧缺、成本相对较高是制约纺织
收稿日期：2016-10-06
*基金项目：青岛市科技计划项目（QDKJX-201305-066）
行业效益与产品质量的两个瓶颈。本文提出了一种用于棉桶搬运更换作业的机器人。文献资料研究表明，用于解决棉纺车间棉桶搬运更换作业的技术原理方法未见报道。
作者简务势数据990一），男，山东庄人，山东科技大学硕士研究生，研究方向为机器人系统设计，（E-mail）ma9733@163.com；通讯作者：杨
前限o—），男，江苏如泉人，山东科技大学教授，博士，研究方向为机电一体化控制，（E-mail)yqm8396@163.eom。