摘要
为了对两自由度弹药传输机械臂进行轻量化,并保证轻量化的机械臂仍能满足动静态性能要求,采用拓扑优化的方法进行优化设计。在RecurDyn中建立弹药传输机械臂的动力学模型,在Matlab/Simulink中建立弹药传输机械臂的联合仿真系统,采用PID方法对弹药传输机械臂进行位置控制,通过OptiStruct软件平台建立其左臂和右臂有限元模型,采用变密度方法的拓扑优化技术对机械臂的左右两臂进行减重。结果表明:该设计是合理的,左右两臂质量比原模型质量降低36.6%,优化后的模型满足刚强度性能要求。
In order to reduce the weight of the 2-DOF ammunition auto-loading manipulator and ensure the lightweight manipulator can still meet the dynamic and static performance requirements, the topology optimization method is adopted. The dynamic model of the ammunition auto-loading manipulator is established in RecurDyn and the coordinated simulation system is established in Matlab/Simulink. The position control of the ammunition auto-loading manipulator is realized by PID method. Use OptiStruct software platform to establish the finite element model of left and right arms. Use varied density topology optimization technology to lose weight of left and right arms. The results show that the design is reasonable, and the weight of the left and right arms is 36.6% lower than that of the original model. The optimization model can satisfy the performance requirements of stiffness.
作者
李蓓
侯保林
Li Bei;Hou Baolin(School of Mechanical Engineering,Nanjing University of Science ＆ Technology,Nanjing 210094,China)
出处
《兵工自动化》
2018年第9期57-60,共4页
Ordnance Industry Automation
关键词
机械臂
联合仿真
PID
拓扑优化
变密度法
manipulator
co-simulation
PID
topology optimization
variable density method
