Jixie chuandong (Jan 2024)
Optimization Design of Node Placement Manipulators Based on Working Area and Response Speed
Abstract
As the key equipment of data acquisition in oil and gas exploration, the node can be replaced by a mechanical arm because of its long-term continuous work and high efficiency, but the structure rigidity is weak and the motion ability is poor, so the structure optimization and lightweight design are carried out to improve the structure rigidity and motion ability. Based on the screw theory, the forward kinematics equation of the manipulator with node placement is established, the global static stiffness index and the global velocity index considering the direction of the task are proposed, and the mathematical model of the size optimization of the node-placing manipulator is established. Based on the multi-objective particle swarm algorithm and the variable density method, the size optimization and lightweight design of the node-distributed manipulator arm are carried out. The results show that the overall static stiffness index and the overall velocity performance in the mission direction are improved by 19.8% and 8.8% respectively, and the lightweight design of the upper arm reduces the mass by 14.7%, which is beneficial to improve the response speed of the movement ability. The research results are of great significance for improving the accuracy and efficiency of oil and gas exploration.
