Browse > Article
http://dx.doi.org/10.3795/KSME-A.2012.36.12.1683

Lightweight Design of a Vertical Articulated Robot Using Topology Optimization  

Hong, Seong Ki (Dept. of Mechanical Engineering, Graduate School, Sejong Univ.)
Hong, Jung Ki (Dept. of Mechanical Engineering, Graduate School, Sejong Univ.)
Kim, Tae Hyun (Hyundai Heavy Industries Co., Ltd.)
Park, Jin Kyun (Hyundai Heavy Industries Co., Ltd.)
Kim, Sang Hyun (Hyundai Heavy Industries Co., Ltd.)
Jang, Gang-Won (Faculty of Mechanical and Aerospace Engineering, Sejong Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.36, no.12, 2012 , pp. 1683-1688 More about this Journal
Abstract
Topology optimization is applied for the lightweight design of three main parts of a vertical articulated robot: a base frame, a lower and a upper frame. Design domains for optimization are set as large solid regions that completely embrace the original parts, which are discretized by using three-dimensional solid elements. Design variables are parameterized one-to-one to the material properties of each element by using the SIMP method. The objective of optimization is set as the multi-objective form combining the natural frequencies and mean compliances of a structure for which load steps of interest are selected from the multibody dynamics analysis of a robot. The obtained results of topology optimization are post-processed to designs favorable to manufacturability for casting process. The final optimized results are 11.0% (base frame), 12.0% (lower frame) and 10.0% (upper frame) lighter with similar or even higher static and dynamic stiffnesses than the original models.
Keywords
Topology Optimization; Vertical Articulated Robot; Lightweight Design;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Jang, G. W., Yoon, M. S. and Park, J. H., 2010, "Lightweight Flatbed Trailer Design by Using Topology and Thickness Optimization," Structural and Multidisciplinary Optimization, Vol. 41, No. 2, pp. 295-307.   DOI
2 Altair Engineering, 2010, HyperMesh Basic Training Manual.
3 Altair Engineering, 2010, Optistruct Training Manual.
4 Kim, T. S. and Kim, Y. Y., 2000, "Mac-Based Mode- Tracking in Structural Topology Optimization," Computers and Structures, Vol. 74, pp. 375-383.   DOI   ScienceOn
5 Pedersen, C. B. W. and Allinger, P., 2006, "Industrial Implementation and Applications of Topology Optimization and Future Needs," IUTAM Symposium on Topological Design Optimization of Structures, Machines and Materials, pp. 229-238, Springer.
6 Schramm, U. and Zhou, M., 2006, "Recent Developments in the Commercial Implementation of Topology Optimization," IUTAM Symposium on Topological Design Optimization of Structures, Machines and Materials, pp. 239-248, Springer.
7 Yang, R. J. and Chahande, A. I., 1995, "Automotive Applications of Topology Optimization," Structural Optimization, Vol. 9, pp. 245-249.   DOI   ScienceOn
8 Bendsoe, M. P. and Sigmund O., 2004, Topology Optimization: Theory, Methods and Applications, Springer.
9 Leiva, J. P., Watson, B. C. and Kosaka, I., 1999, "Modern Structural Optimization Concepts Applied to Topology Optimization," 40th AIAA/ASME/ASCE/ AHS/ASC Structures, Structural Dynamics, and Material Conference, St. Louis, MO, pp. 1589-1596.