A topology optimization method of robot lightweight design based on the finite element model of assembly and its applications.

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.