Structural optimisation method of six degrees of freedom manipulator based on finite element analysis Online publication date: Thu, 22-Feb-2024
by Shudong He
International Journal of Materials and Product Technology (IJMPT), Vol. 68, No. 1/2, 2024
Abstract: In order to improve the optimisation effect of the robotic arm structure from multiple aspects, this paper designs a six degree of freedom robotic arm structure optimisation method based on finite element analysis. Firstly, the relative motion relationship between the rotating joint and the connecting rod was established based on the D-H theory. Then, we divide the mesh elements of the robotic arm structure in ANSYS software and analyse the parameter optimisation redundancy of the robotic arm. Finally, an optimisation equation set was established, and feasible structural optimisation parameters were obtained through solving and finite element verification. The experimental results show that under different load conditions, the maximum load of the robotic arm is increased to 14 kg, the mass of the robotic arm is reduced by about 11%, and the maximum stress is reduced to 13.54 MPa. At the same time, the reachable distance of the robotic arm in three-dimensional space is significantly increased.
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