| 基于拓扑优化的越障攀爬机器人抓手机构设计 |
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| 引用本文：张浩淳,蔡池兰,周嘉裔.基于拓扑优化的越障攀爬机器人抓手机构设计[J].上海第二工业大学(中文版),2024,41(3):280-288 |
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| 中文摘要:针对越障攀爬机器人在危险场景中的功能缺失问题, 提出了一种可快速拆装的抓手机构, 使越障攀爬机器人能够实现抓取和运输的功能, 并在保证结构可靠性的前提下, 通过拓扑优化的方法对抓手机构中的摆动架结构进行轻量化设计, 得到优化后的摆动架结构重量减小了约54%, 抓手机构重量减小了约20.3%, 提高了整体的经济性,为类似抓手机构的优化设计提供了参考和借鉴。 |
| 中文关键词:抓手机构 结构优化 拓扑优化 轻量化设计 |
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| Design of Gripper Mechanism for Obstacle Climbing Robot Based on Topology Optimization |
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| Abstract:Aiming at the function loss of obstacle climbing robot in dangerous scenes, a gripe structure that can be quickly disassembled and assembled is proposed, so that the obstacle climbing robot can realize the functions of grasping and transporting. On the premise of ensuring the reliability of the structure, the lightweight design of the swing frame structure in the gripe structure is carried out through
the method of topology optimization, and the mass of the optimized swing frame is reduced by about 54%, the mass of gripe structure is reduced by about 20.3%. It improves the overall economy and provides a reference for the optimization design of similar gripper structures. |
| keywords:gripper mechanism structure optimization topology optimization lightweight design |
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