Mechanism Design and Analysis for a Lightweight Manipulator Based on Topology Optimization Methods

摘要

In this paper we designed a lightweight manipulator which is installed on a kind of mobile robot-turtlebot. Firstly, we select the configuration of the robot. Then, we optimized the best mechanism of the robot to obtain the large workspace with small size of robot. And then we did the statics analysis and design main link with topology optimization method. Finally, we made a comparison among the side topology optimization beam, traditional I-beam and the structure combined with these two shapes together. Based on the comparison results, we can conclude that: (1) Traditional configuration of palletizing robot is a good configuration to realize lightweight design. (2) The strategy of combine those two optimal shape together can be a solution to achieve 3D-optimization.