Topology optimization is a widely used lightweight design method for structural design of the collaborative robot. In this article, a topology optimization method for the robot lightweight design is proposed based on finite element analysis of the assembly so as to get the minimized weight and to avoid the stress analysis distortion phenomenon that compared the conventional topology optimization method by adding equivalent confining forces at the analyzed part’s boundary. For this method, the stress and deformation of the robot’s parts are calculated based on the finite element analysis of the assembly model. Then, the structure of the parts is redesigned with the goal of minimized mass and the constraint of maximum displacement of the robot’s end by topology optimization. The proposed method has the advantages of a better lightweight effect compared with the conventional one, which is demonstrated by a simple two-linkage robot lightweight design. Finally, the method is applied on a 5 degree of freedom upper-limb exoskeleton robot for lightweight design. Results show that there is a 10.4% reduction of the mass compared with the conventional method.

拓扑优化是一种广泛应用于协作机器人结构设计的轻量化设计方法。本文提出一种基于装配体有限元分析的机器人轻量化设计拓扑优化方法，以求得重量最小化，并避免传统拓扑优化方法通过添加等效约束力的应力分析畸变现象。在分析部分的边界处。对于该方法，机器人部件的应力和变形是基于装配模型的有限元分析来计算的。然后，通过拓扑优化，以质量最小化为目标，以机器人末端最大位移为约束，重新设计零件结构。与传统方法相比，该方法具有更好的轻量化效果，这一点通过简单的二连杆机器人轻量化设计得到了证明。最后将该方法应用于5自由度上肢外骨骼机器人的轻量化设计。结果表明，与传统方法相比，质量减少了10.4%。