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

摘要： 机械臂的刚度和固有频率对其可靠性有重要影响，需对其进行深入研究。文章对某型 六自由度工业机械臂进行建模设计，在 ANSYS 软件采用有限元分析方法对机械臂在力矩最 大的工况下进行静态结构分析和模态分析，验证其刚度和固有频率是否符合要求。进一步采 用拓扑优化方法对大臂进行优化，然后对大臂进行模型重构，导入到整个机械臂中进行结构 分析与模态分析，比较优化前后机械臂的性能差异，验证了改良后机械臂的可靠性，实现轻 量化目标，为后续生产提供参考依据。

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