摘要
以团队研制的六足仿生机器人为研究对象,为了提高腿部机构的强度、刚度以及实现腿部轻量化的设计目标,利用有限元分析了腿部的动静特性及前4阶固态频率。采用六西格玛研究方法结合有限元拓扑优化思想对影响腿部重量的关键因子进行优化。将优化后的腿部和优化前的腿部进行对比,优化后腿部结构减重47.00%,最大应力减小47.24%,最大变形减小84.61%,前4阶固有频率得到提高,腿部重量减轻且工作性能得到提升。优化效果对其他工程结构轻量化设计提供一定参考。
Taking the hexapod bionic robot developed by the team as the research object,in order to improve the strength and rigid-ity of the leg mechanism and realize the design goal of light weight of the leg,the dynamic and static characteristics of the leg and the first 4 solid-state frequencies are analyzed using finite element.The Six Sigma research method combined with the finite element topology optimization idea is used to optimize the key factors that affect the weight of the leg.Comparing the optimized leg with the pre-optimized leg,the optimized leg structure reduces weight by 47.00%,the maximum stress is reduced by 47.24%,the maximum deformation is reduced by 84.61%,the first 4 natural frequencies are improved,and the weight of the leg is im-proved.Reduced and improved performance.The optimization effect provides a certain reference for the lightweight design of other engineering structures.
作者
卢晓旭
刘昕晖
金兆辉
LU Xiao-xu;LIU Xin-hui;JIN Zhao-hui(Institute of Mechanical and Aerospace Engineering,Jilin University,Jilin Changchun 130000,China)
出处
《机械设计与制造》
北大核心
2024年第6期300-304,共5页
Machinery Design & Manufacture
基金
2021年吉林大学开放性创新实验项目(426OEP25)。
关键词
静力分析
模态分析
六足机器人
六西格玛
轻量化
拓扑优化
Static Analysis
Modal Analysis
Hexapod Robot
Six Sigma
Lightweight
Topology Optimization
