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工程设计学报
工程设计学报  2020, Vol. 27 Issue (3): 332-339    DOI: 10.3785/j.issn.1006-754X.2020.00.040
优化设计     
一种重载码垛机器人结构优化设计方法
魏雅君1,2,3, 邱国梁1, 丁广和1, 杨亮1, 刘桁1
1.厦门大学嘉庚学院 机电工程学院， 福建 漳州 363105
2.厦门大学嘉庚学院 嘉庚-微柏工业机器人创新实验室， 福建 漳州 363105
3.厦门市交通基础设施智能管养工程技术研究中心， 福建 厦门 361000
A structural optimization design method for heavy-duty palletizing robot
WEI Ya-jun1,2,3, QIU Guo-liang1, DING Guang-he1, YANG Liang1, LIU Heng1
1.School of Mechanical and Electrical Engineering, Xiamen University Tan Kah Kee College, Zhangzhou 363105, China
2.Tan Kah Kee College-VIBOT Industrial Robot Innovation Laboratory, Xiamen University Tan Kah Kee College, Zhangzhou 363105, China
3.Xiamen Engineering Technology Center for Intelligent Maintenance of Infrastructures, Xiamen 361000, China
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摘要： 码垛机器人常用于焊接、喷涂、上下料、装配和码垛等工艺，可以提高劳动生产率和保证产品质量。针对现有的重载码垛机器人，使用D-H法构建其运动学方程并利用MATLAB解算其工作空间。联合使用ADAMS（automatic dynamic analysis of mechanical systems，机械系统动力学自动分析）和ANSYS Workbench，分别对重载码垛机器人零部件和整机进行瞬态动力学仿真，得到机器人各零部件所受的应力、应变以及机器人末端变形量等，并将其与试验数据对比，以验证仿真方法的可靠性和准确性。结合响应面法和拓扑法对重载码垛机器人结构进行联合优化，获得其结构的轻量化设计方法。研究表明该方法适用于各类关节型机器人的轻量化设计，可进一步降低机器人的材料、电机和减速器的成本。
Abstract: Palletizing robots are often used in welding, spraying, loading and unloading, assembling and palletizing processes, which can improve the labor productivity and ensure the product quality. Aimming at the existing heavy-duty palletizing robot, the D-H method was used to construct its kinematics equation and the MATLAB was used to solve its working space. By combining the ADAMS (automatic dynamic analysis of mechanical systems) and ANSYS Workbench, the transient dynamics simulation of the components and the whole machine of heavy-duty palletizing robot was carried out to obtain the stress and strain on the various components and the deformation of the robot end, which was compared with the experimental data to determine the reliability and accuracy of the simulation method. The response surface method and the topology method were combined to optimize the structure of heavy-duty palletizing robot, and a lightweight design method for its structure was obtained. The research indicates that this method is suitable for the lightweight design of various articulated robot, which can further reduce the cost of the materials, motors and reducers of robots.
收稿日期: 2019-10-09 出版日期: 2020-06-28
:  TP 242.2  
基金资助: 福建省科技计划项目高校产学研合作项目（2018H6018）；2018年度漳州市自然科学基金资助项目（ZZ2018J26）；厦门市交通基础设施智能管养工程技术研究中心开放基金资助项目（TCIMI201809）
作者简介: 魏雅君（1991—），女，福建漳州人，讲师，硕士，从事工业机器人机械结构设计及优化、数字化制造研究，E-mail:yjwei@xujc.com，https://orcid.org/0000-0002-4924-2516。
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引用本文:

魏雅君, 邱国梁, 丁广和, 杨亮, 刘桁. 一种重载码垛机器人结构优化设计方法[J]. 工程设计学报, 2020, 27(3): 332-339.

WEI Ya-jun, QIU Guo-liang, DING Guang-he, YANG Liang, LIU Heng. A structural optimization design method for heavy-duty palletizing robot. Chinese Journal of Engineering Design, 2020, 27(3): 332-339.

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https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2020.00.040    或    https://www.zjujournals.com/gcsjxb/CN/Y2020/V27/I3/332

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