装配式3D打印机器人的拓扑优化

2022 International Conference on Software, Telecommunications and Computer Networks (SoftCOM) Pub Date : 2022-09-22 DOI:10.23919/softcom55329.2022.9911410

I. Chavdarov, Bozhidar Naydenov, Kaloyan Yovchev, Lyubomira Miteva

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引用次数: 0

摘要

这项工作展示了使用专门的软件对组装的3D打印机器人的所有链接进行拓扑优化。作用在机器人上的力是确定的，以及它们的分布。分析了机器人的各种结构，并确定了产生最大内应力的结构。提出了一种机器人在给定极限构型下的整体拓扑优化方法。根据功能要求、施加的载荷和约束条件，确定不同机器人构型下的内应力，并生成连杆和基座的最佳形状。结果用图形表示。整个机器人的3D打印原型被创建。讨论了机器人覆盖整个工作空间的整体优化策略。

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Topology Optimization of an Assembled 3D Printed Robot

This work presents the use of specialized software for topology optimization of all the links of an assembled 3D printed robot. The forces acting on the robot are determined, as well as their distribution. Various robot configurations are analyzed and the one that produces the maximum internal stresses is identified. A method for topology optimization of an entire robot in a given extreme configuration is presented. The internal stresses in different robot configurations are determined and the optimal shape of the links and the base is generated, in accordance with the functional requirements, applied loads and constraints. The results are presented graphically. A 3D printed prototype of the entire robot is created. Possible strategies for overall optimization of robots to cover the entire workspace are discussed.

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来源期刊

2022 International Conference on Software, Telecommunications and Computer Networks (SoftCOM)

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