作者：杨洋 （宁夏交通建设股份有限公司，宁夏 银川 750004）
摘 要：【目的】在转盘质量不增加的情况下，通过拓扑优化对材料合理布置以达到提高转盘刚度的效果。【方法】笔者以某型码垛机器人转盘为研究对象，运用HyperWorks软件对转盘进行静力学分析，得到转盘在最危险工况下的应力云图、位移云 图，再利用OptiStruct根据静力学分析结果以最小柔度为目标函数进行结构拓扑优化，得到拓扑优化云图，寻求其最佳材料分布及传力路径对转盘进行局部重构，并将优化模型通过HyperWorks软件与初始模型进行对比分析。【结果】优化后机器人转盘的质量减轻了1%，转盘最大应力下降了38.6%，转盘最大变形位移下降了19.2%，且前3阶模态和振动性能也有一定的提升。【结论】优化后码垛机器人转盘可以在重量不增加的前提下达到提高刚度的目的，同时在强度和振动性能方面也有所改进，本研究可为机器人其他部件的结构优化工作提供一定的理论依据。
Topology Optimization Design on Structure of Palletizing Robot Rotary
Yang Yang (Ningxia Transportation Construction Co., Ltd., Ningxia Yinchuan 750004)
Abstract: [Objective] To improve the stiffness of the turntable by optimizing the topology and arranging the materials reasonably without increasing the quality of the turntable. [Method] The author takes a certain type of palletizing robot turntable as the research object, and uses HyperWorks software to conduct static analysis on the turntable. The stress cloud map and displacement cloud map of the turntable under the most dangerous working conditions are obtained. Then, OptiStruct is used to optimize the structure topology based on the static analysis results with the minimum flexibility as the objective function, and the topology optimization cloud map is obtained. The optimal material distribution and force transmission path are searched for to locally reconstruct the turntable, and compare and analyze the optimized model with the initial model through HyperWorks software. [Result] After optimization, the mass of the robot turntable was reduced by 1%, the maximum stress of the turntable was reduced by 38.6%, the maximum deformation displacement of the turntable was reduced by 19.2%, and the first three modes and vibration performance were also improved to a certain extent. [Conclusion] The optimized palletizing robot turntable can achieve the goal of increasing stiffness without increasing weight, while also improving strength and vibration performance. This study can provide a certain theoretical basis for the structural optimization of other components of the robot.
Keywords: palletizing robot turntable; topology optimization; modal analysis; SIMP variable density method