以ER20-C10六自由度工业机器人的大臂为研究对象,针对其质量轻、强度高、动态特性好的需求现状，在保证大臂现有功能的基础上，采用正交试验设计对大臂的最优结构进行研究，通过多次正交试验，将各个影响因素的取值范围不断缩小，最终确认最优的大臂结构。采用ANSA软件对优化后的大臂进行几何清理和网格划分；采用solidThinking Inspire软件对优化后的大臂进行静力学分析，采用ANSYS Workbench软件对优化后的大臂进行模态分析，最后将分析结果与原模型的分析结果进行对比，发现优化后的大臂在提高强度、刚度和最小安全系数的同时减轻了质量。对大臂进行轻量化研究，大幅度减轻大臂质量的同时，最大应力比结构优化后的大臂更小，为工业机器人机械结构研发提供了参考。
The large arm of ER20-C10 six degree-of-freedom industrial robot was taken as the research object. In view of the demand situation of light weight, high strength and good dynamic characteristics, on the basis of ensuring the existing function of the arm, the optimal structure of the arm was studied by orthogonal experimental design. Through many orthogonal tests, the value range of each influencing factor was constantly reduced, and finally the optimal arm structure was confirmed. ANSA software was used to clean up the geometry and divide the grid of the optimized arm, solidThinking Inspire software was used to analyze the static performance of the optimized arm, and ANSYS Workbench was used to make the modal analysis of the optimized arm. Finally, the analysis results were compared with those of the original model. It is found that not only the optimized arm strength, stiffness and minimum safety factor are improved, but also the mass is reduced. The lightweight research for the big arm greatly reduces the mass of the big arm, at the same time, the maximum stress is smaller than that of the optimized arm.It provides reference for the research and development of the mechanical structure of the industrial robot.
CHEN Chao, CHEN Hehe, WU Shuting, WANG Jie. Structural Optimization and Lightweight of Industrial Robot Manipulator Based on Orthogonal Test[J]. Machine Tool & Hydraulics,2021,49(5):20-24