关键词: 移动机械臂, 有限元分析, 结构优化, 减重方案

Abstract: 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.
 mobile manipulator; finite element analysis; structure optimization; lightening schemeA 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.

Key words: mobile manipulator, finite element analysis, structure optimization, lightening scheme