Abstract
Finite element model of waist mounting bracket of MD-1200YJ palletizing robot was established, and the accuracy of the finite element model was verified by modal analysis, the modal test, and static analysis. Taking dynamic factors into account, based on the quintic non-uniform, the rational B-splines motion law was carried out, and the analysis showed that this part had the potential of lightweight design. The mass, the maximal stress, and the maximal deformation were minimized as the optimization objectives were determined. The structure parameters as design variables, the first and second natural frequency no reducing and boundary conditions of design variables as the constraint conditions, the approximation models of objective functions and constraint functions were established by the Box-Behnken and the RSM, and the accuracy of these models were verified. The multi-objective optimization mathematical model was established by the methods mentioned above. The optimal solution was obtained by using NSGA-II algorithm, and the optimized model of waist mounting bracket was also gained. The contrastive analysis results between optimized model and initial model showed that the mass reduction was 8.2%, as the first two natural frequencies were increased, bounding with the maximum stress and deformation within allowable values range. The validity of this optimization design method was verified.
Publication Date
11-28-2018
First Page
89
Last Page
95
DOI
10.13652/j.issn.1003-5788.2018.11.019
Recommended Citation
Ying, HE; Jiangping, MEI; Yude, SUN; and Jiawei, ZANG
(2018)
"Multi-objective structural optimization design for the waist mounting bracket of MD-1200YJ palletizing robot,"
Food and Machinery: Vol. 34:
Iss.
11, Article 18.
DOI: 10.13652/j.issn.1003-5788.2018.11.019
Available at:
https://www.ifoodmm.cn/journal/vol34/iss11/18
References
[1] 张良安, 马寅东, 单家正, 等. 4自由度含局部闭链式码垛机器人动力学优化设计[J]. 农业机械学报, 2013, 44(11): 336-341.
[2] 王启义． 中国机械设计大典: 第三卷[M]. 南昌: 江西科学技术出版社, 2002: 1 421-1 422.
[3] ALBERS A, OTTNAD J. Integrated structural and controller optimization in dynamic mechatronic systems[J]. Journal of Mechanical Design, 2010, 132(4): 1-8.
[4] ORAL S, IDER S K. Optimum design of high-speed flexible robotic arms with dynamic behavior constraints[J]. Computers & structures, 1997, 65(2): 255-259.
[5] SARAVANAN R, RAMABALAN S, GODWIN Raja Ebenezer N, et al. Evolutionary bi-criteria optimum design of robots based on task specifications[J]. The International Journal of Advanced Manufacturing Technology, 2009, 41(3): 386-406.
[6] YOSHIMURA Masataka, MASUI Hiroshi. Integrated optimization of planning motion and structural design for increasing product performance of articulated robots[J]. JSME International Journal, Series C, 1995, 38(2): 326-333.
[7] 郭大宝, 梅涛, 骆敏舟, 等. 老人服务机器人机械臂的动力学分析与轻量化设计研究[J]. 中国机械工程, 2012, 23(10): 1 146-1 150.
[8] WANG Yong, LI Kun, CUI Bao-ping. Lightweight design of plate shears bed based on topology optimization and test methods [J]. Key Engineering Materials, 2013, 568: 143-149.
[9] DING Xiao-hong, CHEN Ye-lin, LIU Wei. Optimal design approach for eco-efficient machine tool bed[J]. International Journal of Mechanics and Materials in Design, 2010, 6(4): 351-358.
[10] 赛宗胜, 何一冉, 王冠雄, 等. 卧式加工中心立柱有限元分析及轻量化设计[J]. 组合机床与自动化加工技术, 2013(2): 38-41, 46.
[11] 游玮, 孔民秀. 重载工业机器人控制关键技术综述[J]. 机器人技术与应用, 2012(5): 13-19.
[12] 王启义. 中国机械设计大典: 第二卷[M]. 南昌: 江西科学技术出版社, 2002: 452-844.
[13] 王喆, 曾侠, 刘松涛, 等. 一种2自由度高速并联机械手的轨迹规划方法[J]. 天津大学学报: 自然科学与工程技术版, 2016(7): 687-694.
[14] 梅江平, 臧家炜, 乔正宇, 等. 三自由度Delta并联机械手轨迹规划方法[J]. 机械工程学报, 2016, 52(19): 9-17.
[15] 李小霞, 汪木兰, 刘坤, 等. 基于5次B样条的机械手关节空间平滑轨迹规划[J]. 组合机床与自动化加工技术, 2012, 8(8): 39-42.
[16] DEB K, PRATAP A, AGARWAL S, et al. A fast and elitist multiobjective genetic algorithm: NSGA-II[J]. IEEE Transcations on Evolutionary Computation, 2002, 6(2): 182-197.