关键词: 工业机械臂；六自由度；有限元分析；拓扑优化；模态分析

Abstract: The stiffness and natural frequency of the manipulator have an important influence on its reliability, which needs to be further studied. In this paper, a certain type of six-degree-of-freedom industrial manipulator is modeled and designed. The finite element analysis method is used in ANSYS software. The static structure analysis and modal analysis of the manipulator under the condition of maximum torque are carried out to verify whether its stiffness and natural frequency meet the requirements. The topology optimization method is further used to optimize the big arm, and then the model of the big arm is reconstructed, which is imported into the whole manipulator for structural analysis and modal analysis. The performance difference of the manipulator before and after optimization is compared, and the reliability of the improved manipulator is verified. The lightweight goal is achieved, which provides a reference for subsequent production.

Key words: Industrial manipulator; Six-degree-of-freedom; Finite element analysis; Topology opti-mization; Modal analysis