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《China Mechanical Engineering》 2016-19
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Lightweight Structure Design and Optimization Method for a Light Mobile Manipulator

Yang Shiqiang;Wang Beibei;Xi'an University of Technology;Xi'an Feibao Development Company;  
A mobile manipulator was presented based on the original mobile robot.A light weight manipulator with 5-DOF was presented and its 3D solid model was constructed.The lightening schemes of the key parts were presented to reduce the whole weight of the manipulator and the structure was optimized.The rules of stress and strain to the key parts with different lightening schemes under different loads were provided by finite element method,and the modals and vibration modes of the key parts were obtained as well.The advantages and disadvantages among different lightening schemes were contrasted,and the best lightening scheme was given.The theoretical basis for the optimization of the manipulator structure design was shown.
【Fund】: 国家自然科学基金资助项目(51475365);; 陕西省教育厅省级重点实验室科学研究计划资助项目(12JS071);; 陕西省教育厅科学研究计划资助项目(2013JK1000)
【CateGory Index】: TP241
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