现代制造工程Issue(5)：64-72,9.DOI:10.16731/j.cnki.1671-3133.2025.05.008
基于模糊理论的工业机器人大臂多目标拓扑优化
Multi-objective topology optimization of large arm of industrial robot based on fuzzy theory
摘要
Abstract
In order to improve the efficiency and reliability of industrial robots,the topology optimization design of a certain type of industrial robot's large arm was conducted.The fuzzy satisfaction variable weight coefficient method combined with the member-ship function was used to assign the weights coefficient for the multi-objective topology optimization of the large arm,which can remove the human factor in the traditional multi-objective topology optimization.A finite element model of the large arm was es-tablished and its correctness was verified by strain measurement experiments and acceleration measurement experiments,dynamics simulation of industrial robots was conducted by Adams software to obtain the force on the big arm under three working condi-tions,and the single-objective topology optimization design of static stiffness under three working conditions and the first three in-herent frequency was performed,then the fuzzy multi-objective topology optimization structure of the large arm was obtained.Based on optimization results the large arm was reconstructed,the stress of the traditional optimized arm increases instead of de-creasing under working condition 2,and the magnitude of other sub-objective optimization is not as good as that of the fuzzy multi-objective topology optimization.The large arm optimized with fuzzy multi-objective topology reduces the weight by 12.2％com-pared with the original arm,while the stiffness under the three working conditions and the first and the third order natural frequen-cy are all improved to different degrees,proving the optimization method's effectiveness.关键词
模糊理论/工业机器人/大臂/多目标/拓扑优化Key words
fuzzy theory/industrial robots/large arm/multi-objective/topology optimization分类
机械工程引用本文复制引用
杨向东,明兴祖..基于模糊理论的工业机器人大臂多目标拓扑优化[J].现代制造工程,2025,(5):64-72,9.基金项目
广东省普通高校重点领域专项项目(2023ZDZX3051,2023ZDZX3050) （2023ZDZX3051,2023ZDZX3050）
广东省普通高校工程技术中心项目(2023GCZX008) （2023GCZX008）
湖南省自然科学基金资助项目(2023JJ50207) （2023JJ50207）
国家自然科学基金资助项目(51975192) （51975192）
