基于克隆选择算法的冲压工艺机器人结构优化研究

冲压上下料机器人的结构优化设计,通常涉及多个优化参数,采用传统的优化方法往往由于优化目标函数的复杂性不能得到理想的效果。提出基于克隆选择算法的机器人本体结构优化方法,依托有限元ANSYS Workbench平台得到上下料机器人关键零部件的全局最优本体结构。通过与ANSYS Workbench自带优化算法的比较可知:在不增加结构质量的情况下,能获得更高的刚度和强度,从而有效提高机器人的机械性能。实验测试证明了该方法有效可行。

Study of the Stamping Process Robot Structure Optimization Based on Clonal Selection Algorithm

Structure optimization design of stamping loading robot usually involves multiple optimizedparameters, thus the traditional optimization methods cannot have the desired effect, due to thecomplexity of the optimization objective function. The clonal selection robot structure optimizationmethod was put forward based on clonal selection algorithm and finite element ANSYS Workbenchplatform to get the global optimal body structure loading robot key parts. After comparing with ANSYSWorkbench＇ optimization algorithm, the result can be concluded ： rigidity and strength will be increasedunder the condition of not increasing the structural quality of the casethereby, the mechanical propertiesof the robot can be effectively improved. Experiments testing has been done to prove the validity andthe feasibility.