便携机器人轻量化设计与仿真

针对实验室33 kg便携机器人为研究对象，对它进行25 kg为目标轻量化设计。对已有履带轮受力情况，将各履带轮的材料厚度作为设计变量对其三维模型进行结构优化，获取轻量化的结构，基于多体动力学软件Recurdyn对平地直线行驶、斜坡、斜坡转弯三种典型工况下分别进行仿真，并将仿真结果运用ANSYS进行静力学有限元分析，对零部件以应力和变形为限定条件。结果通过多次迭代设计对比优化前后机器人整体质量减轻的情况下满足运行特性要求。表明了该轻量化设计方案是可行的，新结构相对于原始结构更优。

Lightweight Design and Simulation of a Portable Robot

Aiming at the 33kg portable robot in the laboratory as the research object, the lightweight design of 25kg is carried out. According to the force of the track wheels, the material thickness of each track wheel is used as a design variable to optimize the structure of its three-dimensional model to obtain a lightweight structure. The simulations are carried out separately under the working conditions, and the simulation results are carried out by ANSYS for static finite element analysis, and the stress and deformation are used as the limiting conditions for the components. Results The overall quality of the robot before and after optimization was reduced to meet the requirements of running characteristics through multiple iterative design comparisons. It is shown that the lightweight design scheme is feasible, and the new structure is better than the original structure.