Jixie chuandong (Nov 2021)
Superposition Method for Structural Topology Optimization of Rigid Manipulator
Abstract
Aiming at the topology optimization problem of rigid robot hand connecting rod considering dynamic load conditions，a comprehensive topology superposition method similar to equivalent static load technology is proposed. In this method，a single optimal topology corresponding to different angular positions is superimposed，so as to have better comprehensive effect at all angular positions. Then normalization and re-punishment are carried out to obtain the required volume fraction. In addition，image processing technology is used for post-processing to reduce stress value and geometric complexity. The performance of the integrated topology obtained is evaluated by theoretical simulation，and verified by taking the rigid link of 3-DOF industrial manipulator as an example. The results show that when the volume fraction is reduced by 30%，the joint torque can be reduced by 24.9%，and the deflection and stress are better. Compared with any single optimized topology，the deflection and stress of the integrated topology are reduced by 10%~25%.
