关键词: 工业机器人, 机械臂, 刚柔耦合模型, 可靠性分析, 折衷规划法, 层次分析法, 拓扑优化

Abstract: In order to reduce the performance degradation of the structure system caused by random uncertainties such as manufacturing of industrial robots and various environments,and to improve its static and dynamic characteristics and reduce the structural quality,a multi-objective reliability topology optimization method for industrial robots considering rigid-flexible coupling was proposed.The rigid-flexible coupling dynamic model was established by using multi-body dynamics and finite element method to obtain the dynamic load of the arm under special working conditions.The reliability index of the arm was obtained through the first-order second-moment method,and the influence of uncertainties was reflected by the reliability index.The comprehensive objective function was established based on the normalized sub-objective of the compromise programming method.The neutron objective weight coefficient of the comprehensive objective function was determined by the analytic hierarchy process,and topology optimization design of arm structure based on reliability constraint was carried out.Results showed that the quality of the optimized arm was reduced,the overall stiffness and strength performance were enhanced,and the natural frequencies of each order were improved.

Key words: industrial robot, arm, rigid-flexible coupling model, reliability analysis, compromise programming method, analytic hierarchy process, topology optimization