摘要
建立了MD-1200YJ型码垛机器人腰部支架的有限元模型,通过模态分析与模态试验验证有限元模型的准确性,并基于5次非均匀有理B样条运动规律进行考虑动力学因素的静力学分析,分析结果表明该零件具有轻量化设计的潜力;确定以质量最小、最大位移最小、最大应力最小为优化目标,以结构参数为设计变量,以第一、二阶固有频率不降低以及设计变量的边界条件为约束条件,利用Box-Behnken和RSM方法建立目标函数和约束函数的RSM模型,并验证了模型的准确性;利用NSGA-Ⅱ算法求得最优解,进而得到腰部支架的优化模型;通过对优化模型进行静力学分析、模态分析,并与初始模型进行对比,在保证前两阶固有频率不降低以及最大应力和位移均在允许范围内的情况下,质量减轻了8.2%,验证了该优化设计方法的有效性。
Finite element model of waist mounting bracket of MD-1200 YJ 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.
作者
贺莹
梅江平
孙玉德
臧家炜
HE Ying;MEI Jiang-ping;SUN Yu-de;ZANG Jia-wei(Key Laboratory of Mechanism Theory and Equipment Design,Ministry of Education,Tianjin Unzversity,Tianjin 300350,China;Department of Mechanical Engineering,Tianjin University Renai College,Tianjin 301636,China;Beijing Hanning ZN Tech Co.,Ltd.,Beijing 100070,China)
出处
《食品与机械》
CSCD
北大核心
2018年第11期89-95,共7页
Food and Machinery
基金
国家自然科学基金面上项目(编号:51475320)
关键词
码垛机器人
腰部支架
多目标优化
静力学分析
模态分析
palletizing robot
waist mounting bracket
multi-objective optimization
static analysis
modal analysis
