Abstract
The finite element model of palletizing robot’s forearm is established, and its accuracy is verified by modal test. Based on the static analysis considering dynamic factors, constrained modal analysis and vibration response tests, the optimization objectives are to minimize mass, minimum maximum displacement, maximum first and second order natural frequency and minimum maximum stress, and the structural parameters are taken as design variables. The approximate model of objective function is established by using Box-Behnken and RSM methods. A composite weight coefficient is proposed, which is constructed by the analytic hierarchy process based on the finite element analysis and the reciprocal of the sub-objective optimal values. NSGA-II algorithm is used to obtain the optimal solution, and then the optimal model of the forearm is obtained. The comparative analysis shows that the mass is reduced by about 5.3% when the first two natural frequencies are increased, the maximum stress is reduced and the maximum displacement is still satisfies the allowable deflection, which verifies the effectiveness of the optimization design method.
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