文中以 Adams 和 Ansys 为平台，提出了一种工业机器人的结构分析与优化方法．首先对工业机器人进行有限元静态和动态分析，寻找其最薄弱的零件和部位， 然后对最薄弱的零件和部位进行拓扑优化与尺寸优化，获得 Pareto 解集．将该方法应用于某型号搬运机器人，结果显示，优化后的机器人在整机质量只增加 6% 的情况下，绝对静态变形降低了 78．1%，第一阶固有频率提高了 49．6%，表明该方法具有很好的优化效果和工程实用性．

Proposed in this paper is a method for the structural analysis and optimal design of industrial robots based on the softwares of Adams and Ansys.In this method,first,the finite element analysis is used to reveal the static and dynamic performances of the robot,so as to find out its weak parts and the weak positions of its main parts.Then,the weak parts and positions are topologically and dimensionally optimized,thus obtaining a set of Pareto solution.Finally,the proposed method is applied to an industrial robot.The results show that the optimized robot achieves a total static deformation decrement of 78.1% and a first- order natural frequency improvement of 49.6% at the cost of a mass increment of only 6%,which indicates that the proposed method is effective and feasible.