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中文摘要：
由于复合机器人受AGV承载、锂电电源功耗与自重设计限制,4轴机器人设计轻量化是其关键。前臂是棉桶更换复合机器人关键部件之一,文章以此为研究对象,在考虑满足设计强度、刚度的条件下,以前臂结构轻量化为首要设计考虑因素,建立前臂实体三位模型,利用有限元分析软件ANSYS对前臂做静力学分析,获得危险工况下的应力和位移变化特性;采用Opti Struct软件对前臂进行拓扑优化,依据拓扑优化结果完成前臂结构的改进设计,并对优化后的模型做静力学分析。研究结果表明,优化后的设计方案最大应力、位移均有所减小;在满足强度、刚度设计要求的情况下,前臂重量减少18.4%,较好地实现了前臂轻量化目标,为课题后续产品研制提供了技术支持,也为同类技术产品设计提供了借鉴。
英文摘要：
4-axis robot design lightweight is the key due to the composite robot is limited by AGV carrying capacity, the power consumption of lithium battery and self-weight design. The forearm is one of the key parts of the cotton barrel replacement robot. The three-dimensional model of the Robot forearm has been es- tablished taking into account the overall design to meet the premise robot strength and stiffness, and taking the lightweight of forearm structure as the primary design considerations in this paper taking the forearm as the research object. The forearm statics analysis has been finished using the finite element software of AN- SYS the characteristics of stress and displacement change under dangerous conditions also been obtained; The topology optimization of forearm has been carried out by optistruct and the improved design of the struc- ture of the forearm has been achieved according to the topology optimization results the static analysis of the optimized model also been made. Research results show that the maximum stress and displacement of the optimized design scheme have been reduced; The weight of the forearm has been decreased by 18.4% and better to achieve the light weight goal of the forearm under the condition of meeting the design requirement of strength and stiffness. This study provided technical support for the follow-up product development of the subject and also provided a reference for design of similar technology products.
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