基于应变能分布优化的机器人系统轻量化方法
Systematic Lightweight Method for Robotics Based on Strain Energy Distribution Optimization
- Tencent Robotics X Lab（腾讯Robotics X实验室）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本研究提出应变能分布优化的机器人系统轻量化方法，可解耦系统级问题，兼顾减重与机械性能，经机械臂案例验证了其有效性。
AI中文摘要：
服务机器人与人类协同作业，出于安全性、敏捷性和节能需求，亟需实现轻量化。机器人作为复杂机械系统，包含大量组件，具有多种工作构型和负载环境。实现系统级最优机器人设计的有效方法是关键需求，但面临重大挑战。本研究提出一种优化应变能分布的新方法，可显著提升复杂系统中系统级优化的有效性。首先，提出并论证最优轻量化机械系统中单位质量应变能应均匀分布，基于该准则可解耦系统级问题，并为各部件分配基于应变能的设计目标。随后，各部件可根据自身具体情况，采用尺寸优化、拓扑优化、材料优化等不同方法单独进行最优设计。该方法实现系统级优化，计算复杂度却仅处于部件级，可同时实现减重与机械性能提升。作为示例，将该方法应用于任意设计的机械臂，通过考虑轻量化与刚度提升、多种材料、多种工作条件及振动性能等案例，进一步验证其有效性。
英文摘要：
Service robots work with people and are highly expected to be lightweight for safety, agility and energy conservation. As a complex mechanical system, a robot consists of a large number of components and has various working configurations and load environments. An effective method for achieving system-level optimal robot design is a crucial requirement, but it poses significant challenges. In this study, we introduce a novel approach to optimize the distribution of strain energy, which can significantly improve the effectiveness of systematic optimization in a complex system. First, we present and demonstrate that the strain energy per unit mass should be uniformly distributed in an optimal lightweight mechanical system. Based on this criterion, the system-level problem can be decoupled and the design objective of each part can be assigned based on the strain energy. Then, each part can be optimally designed separately according to its specific circumstances by using different approaches, such as size optimization, topological optimization, and material optimization. In this way, the optimization is at the system level, while the computational complexity is at the part level. Weight reduction and improvements in mechanical properties can be obtained simultaneously. As an example, this method is applied to an arbitrarily designed robotic arm, and its effectiveness is further demonstrated in the cases of lightweight with stiffness improvement, considering multiple materials, multiple working conditions, and vibration performance.
