中文摘要：

基于轻量化设计要求,利用OptiStruct平台对一种5自由度机械手的关键悬臂结构件进行拓扑结构优化。优化过程中加入了对称、脱模方向等约束,提高了零件的可加工性;并对优化后的模型做了强度、刚度校核。对比经验结构与拓扑优化结构,显示了拓扑优化方法的优势。优化设计后的悬臂结构件重量减轻了24.8%,达到了轻量化设计的目的,该成果已经应用于实际生产设备。

英文摘要：

Based on OptiStruct platform and light weight design requirements,a cantilever part of a 5 DOF robot hand is topological optimized.Symmetry constraints and drawing direction constraints are added to the optimization process,which make the machinability better.Strength and stiffness of the optimized model are calculated.Comparing to the experience-design structure,the advantage of topological optimized model is obvious.After optimization,weight of the cantilever part is reduced by 24.8%,and the goal of light weight design is achieved.The design proposal has been applied in actual equipment.