Topology optimization of robotic arm for gas drainage pipeline installation

Abstract

By means of finite element analysis and topology optimization methods, the structural optimization and lightweight design of the robotic arm for the installation of gas drainage pipelines are realized, so that it can realize more complex actions under the premise of ensuring stability. SolidWorks 3D modeling and Ansys Workbench analysis software are used to build models of the robotic arm and perform static analysis. The structural design is optimized through the deformation and stress distribution when grasping the maximum weight. The topology optimization mathematical model of the variable density method and the SIMP (Simplified Isotropic Material with Penalization) interpolation model was constructed, and the topology optimization of the robotic arm was performed in the Shape Optimization module in Ansys Workbench. On this basis, the structure after topology optimization is analyzed and studied. The results show that compared with before topology optimization, the mass of the manipulator is reduced by 29.65%, and the maximum deformation and maximum stress are both reduced by 10%, which confirms the feasibility of lightweight design and structural optimization of the manipulator.