Structural Optimization Design of a Six-Degrees-of-Freedom Serial Robot with Integrated Topology and Dimensional...

Area of Science:

• Robotics
• Mechanical Engineering
• Structural Optimization

Background:

• Traditional serial robot design separates topology and dimensional parameter optimization, hindering synchronous design.
• This independence presents challenges in achieving optimal structural performance.

Purpose of the Study:

• To propose a topology-and-dimension-parameter integrated optimization method (TPOM) for serial robots.
• To enable synchronous optimization of structural topology and dimensional features.

Main Methods:

• Topology layout extraction using edge detection and structural manufacturability reconstruction.
• Setting critical variables in 3D software (SOLIDWORKS2021) and employing response surface methodology for metamodel construction.
• Utilizing multi-objective genetic algorithm (MOGA) for optimizing critical variables and structural deformation analysis.

Main Results:

• The TPOM method achieved a 15% reduction in structural mass.
• The optimized structure maintained its stiffness.
• The structural deformation was reduced to less than 0.352 mm, meeting industrial requirements.

Conclusions:

• The proposed TPOM method effectively integrates topology and dimensional parameter design for serial robots.
• The method demonstrates feasibility and superiority in optimizing structural mass and stiffness.
• The optimized designs are suitable for industrial applications requiring high performance and minimal deformation.