Journal of South China University of Technology (Natural Science Edition) ›› 2013, Vol. 41 ›› Issue (9): 126-131.doi: 10.3969/j.issn.1000-565X.2013.09.021

• Mechanical Engineering • Previous Articles     Next Articles

Structural Analysis and Optimization of Industrial Robot

Guan Yi- sheng Deng Xiu Li Huai- zhu Yin Zhen- neng Wu Wen- qiang Jiang Li   

  1. School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2013-02-22 Revised:2013-06-19 Online:2013-09-25 Published:2013-08-01
  • Contact: 管贻生(1966-)，男，教授，主要从事仿生机器人研究． E-mail:ysguan@scut.edu.cn
  • About author:管贻生(1966-)，男，教授，主要从事仿生机器人研究．
  • Supported by:

    广州数控设备有限公司委托项目

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Abstract:

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.

Key words: industrial robot, finite element analysis, dynamic simulation, topology optimization

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