Superposition Method for Structural Topology Optimization of Rigid Manipulator
Aiming at the topology optimization problem of rigid robot hand connecting rod considering dynamic load conditions，a comprehensive topology superposition method similar to equivalent static load technology is proposed. In this method，a single optimal topology corresponding to different angular posit...
| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.11.008 |
| _version_ | 1797819593710895104 |
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| author | Xiaorui Liu Peixiang He Guanghui Xie |
| author_facet | Xiaorui Liu Peixiang He Guanghui Xie |
| author_sort | Xiaorui Liu |
| collection | DOAJ |
| description | Aiming at the topology optimization problem of rigid robot hand connecting rod considering dynamic load conditions，a comprehensive topology superposition method similar to equivalent static load technology is proposed. In this method，a single optimal topology corresponding to different angular positions is superimposed，so as to have better comprehensive effect at all angular positions. Then normalization and re-punishment are carried out to obtain the required volume fraction. In addition，image processing technology is used for post-processing to reduce stress value and geometric complexity. The performance of the integrated topology obtained is evaluated by theoretical simulation，and verified by taking the rigid link of 3-DOF industrial manipulator as an example. The results show that when the volume fraction is reduced by 30%，the joint torque can be reduced by 24.9%，and the deflection and stress are better. Compared with any single optimized topology，the deflection and stress of the integrated topology are reduced by 10%~25%. |
| first_indexed | 2024-03-13T09:25:58Z |
| format | Article |
| id | doaj.art-33d41003228f4e5cb704ef572bc58a8f |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:25:58Z |
| publishDate | 2021-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-33d41003228f4e5cb704ef572bc58a8f2023-05-26T09:34:49ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-01-0145465020727793Superposition Method for Structural Topology Optimization of Rigid ManipulatorXiaorui LiuPeixiang HeGuanghui XieAiming at the topology optimization problem of rigid robot hand connecting rod considering dynamic load conditions，a comprehensive topology superposition method similar to equivalent static load technology is proposed. In this method，a single optimal topology corresponding to different angular positions is superimposed，so as to have better comprehensive effect at all angular positions. Then normalization and re-punishment are carried out to obtain the required volume fraction. In addition，image processing technology is used for post-processing to reduce stress value and geometric complexity. The performance of the integrated topology obtained is evaluated by theoretical simulation，and verified by taking the rigid link of 3-DOF industrial manipulator as an example. The results show that when the volume fraction is reduced by 30%，the joint torque can be reduced by 24.9%，and the deflection and stress are better. Compared with any single optimized topology，the deflection and stress of the integrated topology are reduced by 10%~25%.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.11.008Industrial manipulator;Topology optimization;Rigid connecting rod;Equivalent static load;Dynamic load |
| spellingShingle | Xiaorui Liu Peixiang He Guanghui Xie Superposition Method for Structural Topology Optimization of Rigid Manipulator Jixie chuandong Industrial manipulator;Topology optimization;Rigid connecting rod;Equivalent static load;Dynamic load |
| title | Superposition Method for Structural Topology Optimization of Rigid Manipulator |
| title_full | Superposition Method for Structural Topology Optimization of Rigid Manipulator |
| title_fullStr | Superposition Method for Structural Topology Optimization of Rigid Manipulator |
| title_full_unstemmed | Superposition Method for Structural Topology Optimization of Rigid Manipulator |
| title_short | Superposition Method for Structural Topology Optimization of Rigid Manipulator |
| title_sort | superposition method for structural topology optimization of rigid manipulator |
| topic | Industrial manipulator;Topology optimization;Rigid connecting rod;Equivalent static load;Dynamic load |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.11.008 |
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