Light-Weighting and Comparative Simulation Analysis of the Forearm of Welding Robots

Abstract

The light-weighting of a robotic arm is an important aspect of robot research. In the operation of existing welding robots, excessive vibrations in the welding actuators have been observed, which lead to reduced welding precision and work efficiency. The direct connection between the forearm and the welding actuator is a key component that affects vibrations. Based on this, a study on light-weighting the forearm is proposed. Using the theory of topology optimization with variable density structure, the structural dimensions, shapes, and geometric parameters of the forearm are optimized. The material removal methods of “hole cutting” and “local hollowing” are employed to reconstruct the forearm structure model. Static, modal, and transient simulations were performed on the forearm model pre-optimization and post-optimization. The optimization results show that the mass of the forearm is reduced by 19.8%. The static simulation comparative analysis shows that, under the same constraints and load conditions, the maximum total deformation of the optimized forearm is reduced by 3.6%, the maximum stress is reduced by 3.2%, and the maximum equivalent elastic strain is reduced by 5.7%. The optimized forearm structure is more reasonable and exhibits better mechanical performance. Modal simulation comparative analysis shows that the first and second natural frequencies of the optimized forearm are increased by 9.8% and 7.0%, respectively. Transient simulation comparative analysis demonstrates that, under the maximum operating condition, the vibration frequency and amplitude of the optimized welding robot forearm are reduced by 19.4% and 26.9%, respectively. The maximum amplitudes of the maximum equivalent stress curve and maximum equivalent elastic strain curve are reduced by 51.0% and 46.0%, respectively. This study provides a guarantee for reducing vibrations in welding actuators, improving welding precision, and enhancing the work efficiency of the welding robot.