基于元结构的机器人基座结构动态分析与优化

摘要

Static analysis and modal analysis for pedestal of four degrees of freedom Cartesian robot was car-ried out with ANSYS. Then element structure approach was applied, and the element structural unit was ex-tracted. The influence of the element structure parameters on dynamic performance was studied by using par-ametric design method. Several structure optimization programs were proposed along with the premise of fixed pedestal dimension, as well as the target of natural frequency and weight optimization. A final optimi-zation program was chosen, by which the natural frequency of the pedestal is substantial increased and the weight is reduced as high as 31. 3%. As a result, the dynamic performance of the pedestal is improved and the manufacturing cost is reduced.%以四自由度直角机器人基座为研究对象，首先利用ANSYS软件对基座结构进行静力分析和模态分析，在此基础上引入了元结构方法，并提取出基座的元结构单元。采用参数化设计方法，研究了元结构结构参数对其动态性能的影响规律。最后，在机器人基座结构基本尺寸不变的前提下，以固有频率和重量为优化目标，依据此规律提出若干结构优化方案，通过方案对比分析确定最终优化方案。优化后的基座基频得到较大幅度的提高，并且重量降低31.3%，改善了基座动态性能，节约了制造成本。