Abstract
Selective compliance assembly robot arm (SCARA) has several unique characteristics with high speed, accuracy and stability in horizontal motion and so on. In order to make SCARA to have variable working radius, the big arm was designed into modular combination in this paper. The SCARA can change the length of the robot arm and further meet more industrial needs by adjusting the number of modules in the big arm. A topology optimization method based on inherent frequency and maximum stress is used to improve its strength and stiffness to reduce the weight of SCARA. The optimization model is established to optimize the topology of each module, and the optimal size is selected to increase inherent frequency and reduce maximum stress. The mass of the forepart module, the middle part module and the rear-end module of the big arm has been reduced by 13.85%, 15.3% and 13.18% respectively, which basically reach the goal of 15% optimization with significant weight loss.
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Acknowledgements
This research is supported by the Fundamental Research Funds for the Central Universities (2019B21514), the National Natural Science Foundation of China (91748124 and 51875171), the Foundation (2017B21114) of Jiangsu Key Laboratory of Special Robot Technology, the Foundation (BFM1707) of Jiangsu Provincial Key Laboratory of Bionic Functional Materials, and the Research Foundation of Changzhou College of Information Technology (KYPT201801G), P.R. China. The authors gratefully acknowledge the supports.
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Zhao, C., Wang, Y., Hao, M., Luo, M. (2019). Reconfigurable Design and Structure Optimization of SCARA. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11740. Springer, Cham. https://doi.org/10.1007/978-3-030-27526-6_59
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DOI: https://doi.org/10.1007/978-3-030-27526-6_59
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