Industrial robot big arm structure optimization method based on orthogonal test

Abstract

The invention relates to an industrial robot big arm structure optimization method based on an orthogonal test. The method comprises the steps: (1) selecting an industrial robot big arm as an optimization object; (2) determining three factors of orthogonal test design; (3) selecting five horizontal parameters for each factor; (4) generating an orthogonal test table with 25 test schemes; (5) modifying the industrial robot big arm model in the step (1); (6) performing topological optimization on the modified industrial robot big arm model; (7) determining the maximum stress of the structure; (8)generating a mean value main effect diagram of the maximum stress; (9) analyzing a test result in the step (8); and (10) comparing the analysis data before and after optimization, and confirming an optimization result. The method has the advantages that the optimal material distribution of the big arm can be achieved and reserved to the maximum extent, the optimal big arm structure parameters areobtained, and the strength, rigidity and other performance of the big arm are remarkably improved while the mass of the big arm is reduced.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, in particular to a method for optimizing the structure of a large arm of an industrial robot based on an orthogonal test. Background technique [0002] After years of development of industrial robots, the development direction of high precision and high speed is its inevitable development trend. This development trend not only requires continuous improvement in the control of industrial robots, but also puts forward higher requirements for the mechanical structure of robots-not only to be lightweight but also to have sufficient strength, stiffness and better dynamic characteristics. [0003] Topology optimization is not limited by the original shape of the structure and the optimization experience of engineers, and can obtain unexpected innovative structures. However, the structural solution obtained by topology optimization is difficult or even impossible to process with traditional m...

AI Technical Summary

Problems solved by technology

On this basis, the design process only needs to consider how to obtain the optimal structure of the product, and no longer considers the manufacturing problem of the product. However, there are still certain shortcomings: a large number of comprehensive tests are required to effectively ensure that the boom can reduce the mass and at the same time, Strength, stiffness and other properties have been improved

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