Fruit clamping mechanical arm

Abstract

The invention provides a fruit clamping mechanical arm which comprises a main support, and driven connecting rods are hinged to the two sides of the main support respectively. A power component is further fixed to the main support, an output shaft of the power component is connected with an action block, the two sides of the action block are each hinged to a driving connecting rod, and the other ends of the two driving connecting rods are hinged to the driven connecting rods on one side. When the power part drives the action block to move up and down, the driving connecting rod drives the driven connecting rod to do opening and closing motion; enough structural strength can be guaranteed, instability and path deviation cannot occur when the robot passes through complex obstacles such as plant branches and leaves, flexible contact clamping can be provided, and fruits cannot be damaged.

Description

Technical Field

[0001] This invention belongs to the technical field of fruit picking equipment, specifically relating to a fruit gripping robotic arm. Background Technology

[0002] Agricultural automation is a fundamental means to improve production efficiency and liberate labor in labor-intensive industries. In fruit and vegetable production, especially fruit harvesting, traditionally relying on sealed manual harvesting methods consumes significant labor costs and is a key bottleneck restricting the full automation of agriculture. While some automated production tools using robotic arms for fruit harvesting have emerged, these tools directly contact the fruit to complete the harvesting operation. However, fruits typically have relatively soft, even deformable, surfaces, and exhibit significant differences in shape and size (e.g., round, oval, and irregular shapes). Excessive clamping force from the robotic arm can easily damage the fruit's surface or internal tissues, while insufficient clamping force can lead to unreliable gripping and the fruit falling to the ground. Therefore, dynamically adjusting the contact force to adapt to different fruit sizes and hardness is currently a key focus of research on gripping robotic arms for fruit picking and sorting. Existing technologies equip the arms with high-precision force sensors and embed complex control algorithms to form a closed-loop force feedback control. However, the integration of force sensors increases the complexity of hardware design and assembly costs. Furthermore, the dynamic mechanical characteristics of fruits (such as changes in hardness corresponding to different levels of maturity) place extremely high real-time requirements on the control algorithms. These factors result in a complex overall system, high cost, and insufficient adaptability to diverse fruit scenarios. In addition, despite having real-time feedback capabilities, it is still difficult to avoid mechanical damage to fruits due to sudden impacts or abrupt changes in contact stiffness in high-speed operation scenarios or situations where contact stiffness changes abruptly. It is also impossible to always guarantee a stable and accurate clamping force output, which seriously restricts the large-scale promotion and application of related picking equipment in agricultural production. Summary of the Invention

[0003] Based on the above-mentioned prior art, the present invention provides a fruit-grabbing robotic arm that can ensure sufficient structural strength so as not to become unstable or deviate from the path when passing through complex obstacles such as plant branches and leaves, and can also provide flexible contact gripping without damaging the fruit.

[0004] The technical solution adopted in this invention is as follows: A fruit-grabbing robotic arm includes a main support, with driven connecting rods hinged to both sides of the main support; a power component is also fixed on the main support, and an actuating block is connected to the output shaft of the power component. An active connecting rod is hinged to each side of the actuating block, and the other ends of the two active connecting rods are respectively hinged to a driven connecting rod on one side; when the power component drives the actuating block to move up and down, it drives the driven connecting rods to open and close through the active connecting rods; the end of each driven connecting rod away from the main support is connected to... The outrigger assembly comprises two outrigger components driven by a driven link to perform clamping or releasing actions. Each outrigger assembly includes a front V-shaped bracket and a rear V-shaped bracket, connected by two thin-walled sheet beams. The two thin-walled sheet beams are arranged in a V-shape along their axial projection and are symmetrically distributed on both sides of the clamping action plane of the outrigger assembly. A clamping part is fixedly connected to the end of the front V-shaped bracket away from the rear V-shaped bracket. The end of the rear V-shaped bracket away from the front V-shaped bracket is hinged to the driven link.

[0005] Each side of the main support includes a first driven link and a second driven link arranged side by side. One end of the second driven link of the first driven link is hinged to the main support, and the other end is hinged to the rear V-shaped support. The main support, the first driven link, the second driven link and the rear V-shaped support form a four-bar linkage structure.

[0006] The power component is a cylinder or a motor. The piston rod of the cylinder directly drives the actuating block to move up and down. Alternatively, a threaded through hole is provided in the middle of the actuating block, and the end of the motor's output shaft is provided as a threaded rod or the end of the output shaft is connected to a threaded rod. The threaded rod cooperates with the actuating block, and the rotation drives the actuating block to move up and down.

[0007] Furthermore, the clamping surface of the clamping part is configured as an arc-shaped surface that conforms to the surface of the fruit, and the clamping surface is made of a flexible material.

[0008] Furthermore, the sheet-like thin-walled beam includes an active area and a connecting area. The connecting area includes two sections located at the upper and lower ends of the active area, and the two connecting areas are fixedly connected to the front V-shaped bracket and the rear V-shaped bracket, respectively. The active area is a contour region formed by two parallel short sides and two spline curves connecting the ends of the two parallel short sides. The two short sides are the boundary lines between the active area and the upper and lower connecting areas. Preferably, the sheet-like thin-walled beam is a manganese steel sheet with a thickness not exceeding 0.3 mm.

[0009] This invention also claims protection for an optimized design method for a sheet-like thin-walled beam, the sheet-like thin-walled beam being used in the aforementioned fruit-grabbing robotic arm, comprising the following steps: S1. Construct an optimization model: Determine the central axis along the length of the sheet-like thin-walled beam, and divide the dimensions of the sheet-like thin-walled beam into four segments: L1, L2, L3, and L4 along the central axis. The edges of the four segments from L1 to L4 that are perpendicular to the central axis are divided with the central axis as the boundary, and a total of five edges are divided into d1-d10. S2. Construct the objective optimization function: The total deviation F1 between the actual force-displacement curve and the design force-displacement curve is expressed as:

[0010] In the formula: N represents the total number of discrete points selected from the actual force-displacement curve, Fs represents the actual applied load, and fi represents the relative deviation between the actual force-displacement curve and the design force-displacement curve at the i-th point; S3. Introduce a penalty function F2 into the objective optimization function, and use min(F1+F2) as the overall optimization objective function, where the penalty function F2 is expressed as:

[0011] Where: Ss is the actual displacement range, Sm is the specified displacement range, and Wd is the weighting coefficient; S4. Set constraints:

[0012] In the formula: di is the width of the i-th point in the sheet-like thin-walled beam d1-d10; dm is the maximum width of the sheet-like thin-walled beam; δ represents the yield stress of the sheet-like thin-walled beam material; R is the safety factor; S5. Considering the mechanical properties, geometric constraints, and functional objectives of the integrated sheet-like thin-walled beam, the mathematical model for shape optimization is expressed as follows:

[0013] S6. Optimize the shape design of sheet-like thin-walled beams based on ANSYS software.

[0014] In step S6 above, the particle swarm parameters are first initialized, with each particle corresponding to a set of sheet-like thin-walled beam design parameters; then, a finite element analysis model is established for each particle parameter in ANSYS software, and the actual force-displacement curve is obtained through nonlinear finite element analysis; the global and individual optimal positions of the particles are updated according to the fitness; after boundary treatment, the analysis is repeated until the convergence condition is met and the optimal solution is obtained.

[0015] The advantages of the technical solution of this invention are: it can maintain a constant clamping force, avoiding damage to the fruit when the robotic arm is working; it achieves constant force output through two V-shaped thin-walled beams, eliminating the need for a large number of force sensors and complex algorithm feedback mechanisms, making manufacturing more economical; the overall rigidity of the robotic arm is sufficient to support the clamping part through the branches and leaves, avoiding instability, deformation and path deviation, and accurately moving the clamping part to the fruit position. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the fruit-grabbing robotic arm of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the fruit-grabbing robotic arm of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the outrigger assembly structure; Figure 4 This is a plan view of the sheet-like thin-walled beam of the outrigger assembly; Figure 5 These are schematic diagrams of the actual force and design force-displacement curves; Figure 6 This is a schematic diagram of the force-displacement curve of the sheet-like thin-walled beam in the embodiment; In the figure: 1. Clamping part, 2. Sheet-shaped thin-walled beam, 3. Front V-shaped bracket, 4. Rear V-shaped bracket, 5. Motor, 6. First driven link, 7. Second driven link, 8. Driving link, 9. Action block, 10. Output shaft, 11. Force sensor. Detailed Implementation

[0017] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0018] The following specific embodiments illustrate the implementation method of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0019] Referring to the accompanying drawings, the structures, proportions, sizes, etc., depicted in the drawings are merely for illustrative purposes to aid those skilled in the art in understanding and reading the content disclosed herein. They are not intended to limit the conditions under which the invention can be implemented and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the positional limitations used in this specification are merely for clarity of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0020] See Figure 1 and Figure 2 The diagram illustrates the overall structure of the fruit-grabbing robotic arm of the present invention from two perspectives. It includes a main support frame with driven links hinged to both sides. A motor or cylinder is fixedly mounted on the main support frame. In the illustrated embodiment, a motor 5 is installed. The output shaft of the motor 5 drives the actuating block 9 to move up and down. An active link 8 is hinged to each side of the actuating block 9, and the other ends of the two active links 8 are respectively hinged to the driven links on both sides. When the actuating block 9 moves up and down, the active links 8 drive the driven links on both sides to open and close, thereby causing the two support arm assemblies to perform gripping and releasing actions. As shown, each side's driven link includes a first driven link 6 and a second driven link 7 arranged side-by-side. The other ends of the first driven link 6 and the second driven link 7 are both hinged to the rear V-shaped support 4. The main support frame, the first driven link 6, the second driven link 7, and the rear V-shaped support 4 form a four-bar linkage structure, ensuring the stability of the support arm assembly's movement. The active link 8 is hinged to the first driven link 6. Alternatively, it can be hinged to the second driven link 7. This can be adaptively adjusted according to the link length and range of motion. This part belongs to a conventional robotic arm drive mechanism. The improvement of this invention lies primarily in the design of the support arm assembly, which will be discussed below. Figure 3 , Figure 4 Please provide a detailed explanation.

[0021] Figure 3 This is a schematic diagram of the support arm assembly structure, as shown in the figure. It includes a front V-shaped support 3 and a rear V-shaped support 4, which are connected by two sheet-like thin-walled beams 2. The included angle between the two sheet-like thin-walled beams 2 is θ, meaning that the projections of the two sheet-like thin-walled beams 2 along the axial direction are arranged in a V-shape, and the two sheet-like thin-walled beams 2 are symmetrically distributed on both sides of the gripping action plane of the support arm assembly. A clamping part 1 is fixedly connected to the outer end of the front V-shaped support 3. The clamping surface of the clamping part 1 is set as an arc-shaped surface that conforms to the surface of the fruit. It can be made of micro-flexible materials such as silicone, rubber, and resin, or directly made of plastic. A force sensor 11 can be set at the clamping part 1 as needed to facilitate real-time monitoring of whether the fruit gripping robot arm is working normally according to the design performance. In the illustrated embodiment, a force sensor 11 is set between the clamping part 1 and the front V-shaped support 3 on one side.

[0022] Figure 4 This is a plan view of the sheet-like thin-walled beam of the support arm assembly. As can be seen from the figure, the upper and lower ends of the sheet-like thin-walled beam 2 are redundant parts that are fixedly connected to the front V-shaped bracket 3 and the rear V-shaped bracket 4. Its main function is the contour area formed by the two parallel short sides and the two spline curves connecting the two ends of the two parallel short sides. The two short sides are the dividing lines between the main body and the upper and lower connecting areas, which are the parts that are fixedly connected to the front V-shaped bracket 3 and the rear V-shaped bracket 4, respectively.

[0023] When the robotic arm of the technical solution of the present invention picks fruits, it can achieve the effects of flexible adaptation and stable constant-force clamping. This mainly depends on the structural design of two sheet-like thin-walled beams 2 arranged in a V shape. According to the principle of structural mechanics, when the thin-walled beam structure is configured with specific geometric parameters and material properties, it will undergo controlled buckling deformation within a preset displacement input range, thus generating a mechanical effect similar to "super elasticity", that is, maintaining an approximately constant reaction force within a certain deformation range. This characteristic enables the clamping part 1 to achieve constant-force clamping of fruits without relying on complex real-time feedback control. Moreover, when the clamping part 1 contacts the fruit, the elastic deformation of the sheet-like thin-walled beams 2 arranged in a V shape can preferentially absorb and dissipate the impact energy, effectively buffering the peak impact force at the moment of contact, and significantly reducing the risk of mechanical damage to the fruit skin. At the same time, relying on its constant-force characteristic, it can stably clamp fruits of different sizes and different maturities, avoiding local damage caused by excessive pressure or the risk of falling caused by insufficient clamping force.

[0024] The core of constant-force realization lies in utilizing the staged mechanical response of the sheet-like thin-walled beam 2 under load. Combining with the thin-walled structure instability theory, the evolution laws of its deformation and stiffness can be systematically analyzed from three aspects: moment generation, elastic deformation stage, and buckling instability stage. When an external load F acts on the sheet-like thin-walled beam 2, due to the transmission and distribution of force, distributed moments are generated inside the beam. Under the drive of these moments, the mechanical behavior of the sheet-like thin-walled beam 2 exhibits obvious two-stage characteristics, and there are significant differences in the structural form, cross-sectional performance, and stiffness performance between each stage.

[0025] In the stable elastic deformation stage where the load has not reached the critical value (F < F0, where F0 is the critical load), the two sheet-like thin-walled beams 2 each maintain a planar configuration, and the included angle θ formed by their cross-sections remains stable at the initial design value. From the perspective of cross-sectional mechanical properties, the constant included angle θ ensures the complete geometric configuration of the beam cross-section. According to the basic principle in material mechanics that the bending stiffness is positively correlated with the bending cross-sectional modulus, the sheet-like thin-walled beam 2 exhibits a high bending stiffness in this stage, only generating small elastic deformations matching the load, and its overall mechanical response falls within the stable and controllable linear elastic range. When the load exceeds the critical value (F ≥ F0), according to the thin-walled structure instability theory, the sheet-like thin-walled beam 2 breaks through the stable equilibrium state and enters the large deformation buckling stage after instability. At this time, the beam can undergo large deformations while the load remains basically unchanged, thus achieving constant-force output.

[0026] The sheet-like thin-walled beam 2 of the present invention is a sheet-like structure with a main contour approximately rectangular. The outer contour line includes two spline curves and two parallel short sides, and the two ends of the two short sides are each connected by a spline curve. The following introduces the process of optimizing the design of the sheet-like thin-walled beam 2 with the help of ANSYS.

[0027] First, an optimization model is constructed: The extension direction of the spline curve (i.e., the direction perpendicular to the short side) is taken as the length direction. The central axis of the sheet-like thin-walled beam is determined by this length direction. The dimensions of the sheet-like thin-walled beam are divided into four segments: L1, L2, L3, and L4, along the central axis. The edges of each segment from L1 to L4, perpendicular to the central axis, are further divided using the central axis as the boundary, resulting in five edges, which are sequentially divided into d1-d10, as shown below. Figure 4 As shown, the two sides of segment L1 are divided into d1, d2 and d3, d4 by the central axis; the two sides of segment L2 are divided into d3, d4 (coincident sides of segments L1 and L2) and d5, d6 by the central axis; the two sides of segment L3 are divided into d5, d6 (coincident sides of segments L2 and L3) and d7, d8 by the central axis; and the two sides of segment L4 are divided into d7, d8 (coincident sides of segments L3 and L4) and d9, d10 by the central axis.

[0028] The clamping force is kept constant by using two V-shaped thin-walled beams 2. To achieve this, the deformation displacement and load of the thin-walled beams 2 need to be kept in a stable state. Through optimization algorithm, the deviation between the actual force-displacement curve (dashed line) and the design curve (solid line) is minimized until the optimal solution of the shape parameters of the thin-walled beam is obtained. At this time, the load-displacement curve of the thin-walled compliant beam is highly consistent with the designed load-displacement curve.

[0029] Figure 5 A schematic diagram of the actual force and design force-displacement curves is shown. Since it is not feasible to establish an optimization objective based on the overall deviation between the two force-displacement curves, the optimization objective is based on several discrete points on these curves. Figure 5 The objective function is constructed using points P1-Pn in the discrete data. At each discrete point, the relative deviation between the two force-displacement curves is defined as fi, and the total deviation F1 of the two force-displacement curves can be expressed as... , In the formula: N represents the number of discrete points on the force-displacement curve, Fs represents the actual applied load, and fi represents the relative deviation between the actual force-displacement curve and the design force-displacement curve at the i-th point.

[0030] To ensure the fruit gripper reaches the designed displacement range, a penalty function F2 is specifically introduced into the optimization objective function, as shown in the following equation. The core purpose of this design is to quantify the deviation using the penalty function when the actual displacement range of the sheet-like thin-walled beam does not meet the specified requirements, thereby strengthening the optimization algorithm's control over the displacement index and ensuring that the robotic arm can not only achieve stable constant force output during operation but also cover the preset displacement range.

[0031]

[0032] In the formula, Ss is the actual displacement range, Sm is the specified displacement range, and Wd is the weighting coefficient.

[0033] Therefore, considering both the deviation control of the force-displacement curve and the constraint requirements of the displacement range, the overall optimization objective function can be expressed as min(F1+F2). The core of this expression lies in integrating the curve fitting degree and displacement compliance into a unified optimization framework by summing the total deviation F1 and the penalty function F2. This allows the optimization algorithm to simultaneously adjust the force accuracy and displacement range during the iteration process, ultimately obtaining an optimized design scheme that satisfies the preset force-displacement characteristics while covering the specified displacement range.

[0034] The constraints mainly include the design space of the sheet-like thin-walled beam and the maximum stress required to meet the strength requirements, as shown in the formula.

[0035] In the formula, di is the width at point di in the sheet-like thin-walled beam d1-d10; dm is the maximum width of the sheet-like thin-walled beam; δ represents the yield stress of the sheet-like thin-walled beam material; and R is the safety factor.

[0036] In summary, considering the mechanical properties, geometric constraints, and functional objectives of the sheet-like thin-walled beam, the mathematical model for shape optimization can be expressed as follows:

[0037] The shape optimization design of a sheet-like thin-walled beam was achieved using particle swarm optimization combined with the finite element software ANSYS. The specific process is as follows: First, the particle swarm parameters are initialized, with each particle corresponding to a set of design parameters for the sheet-like thin-walled beam. Then, a finite element analysis model is established for each particle parameter in ANSYS software, and the actual load-displacement curves are obtained through nonlinear finite element analysis. Based on the fitness, the global and individual optimal positions of the particles are updated. After boundary treatment, the analysis is repeated until the convergence condition is met, yielding the optimal solution.

[0038] In one specific embodiment, the sheet-like thin-walled beam 2 was simulated in ANSYS, divided into 2023 elements, with a design constant force fh = 8 N and a design displacement Sm = 30 mm. The maximum width of the thin-walled compliant beam shape was set to 20 mm, and the thickness to 0.2 mm. The material was manganese steel, with an elastic modulus of 2.1 × 10⁵ MPa, a Poisson's ratio of 0.3, a density of 7830 kg / m³, and a tensile strength of 1000 MPa. The actual design results are shown in the table below:

[0039] like Figure 6The figure shows a schematic diagram of the force-displacement curve of the sheet-like thin-walled beam. When the initial displacement occurs, the force generated by the deformation shows a rapid increasing trend. When the displacement reaches 6 mm, the force value increases to 7.3 N. Subsequently, as the displacement continues to increase, the fluctuation range of the force value decreases significantly, basically meeting the design standard of constant force output.

[0040] In the description of this invention, it should be understood that the use of terms such as "first," "second," and "third" to define components is merely for the purpose of distinguishing the aforementioned components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A fruit-grabbing robotic arm, comprising a main support, with driven links hinged to both sides of the main support; a power component is also fixed on the main support, an actuating block is connected to the output shaft of the power component, an active link is hinged to both sides of the actuating block, and the other ends of the two active links are respectively hinged to the driven link on one side; when the power component drives the actuating block to move up and down, it drives the driven link to open and close through the active link; Each side of the driven link is connected to a support arm assembly at the end away from the main support. The two support arm assemblies are driven by the driven link to perform clamping or releasing actions. The outrigger assembly includes a front V-shaped bracket and a rear V-shaped bracket, which are connected by two sheet-like thin-walled beams. The two sheet-like thin-walled beams are arranged in a V-shape along the axial direction and are symmetrically distributed on both sides of the clamping action plane of the outrigger assembly. The end of the front V-shaped bracket away from the rear V-shaped bracket is fixedly connected to the clamping part. The end of the rear V-shaped bracket away from the front V-shaped bracket is hinged to the driven link.

2. The fruit-grabbing robotic arm according to claim 1, further characterized in that, Each side of the main support includes a first driven link and a second driven link arranged side by side. One end of the second driven link of the first driven link is hinged to the main support, and the other end is hinged to the rear V-shaped support. The main support, the first driven link, the second driven link and the rear V-shaped support form a four-bar linkage structure.

3. The fruit-grabbing robotic arm according to claim 1, further characterized in that, The power component is a cylinder or an electric motor.

4. The fruit-grabbing robotic arm according to claim 1, further characterized in that, The clamping surface of the clamping part is set as an arc-shaped surface that conforms to the surface of the fruit, and the clamping surface is made of a flexible material.

5. The fruit-grabbing robotic arm according to claim 2, further characterized in that, The sheet-like thin-walled beam includes a functional area and a connecting area. The connecting area includes two sections located at the upper and lower ends of the functional area. The two connecting areas are respectively fixedly connected to the front V-shaped bracket and the rear V-shaped bracket. The effective area is a contour region formed by two parallel short sides and two spline curves connecting the two ends of the two parallel short sides. The two short sides are the dividing lines between the effective area and the two connecting areas above and below.

6. The fruit-grabbing robotic arm according to claim 1 or 5, further characterized in that, The sheet-like thin-walled beam is a manganese steel sheet with a thickness not exceeding 0.3 mm.

7. The fruit-grabbing robotic arm according to claim 1, further characterized in that, A force sensor is provided between at least one of the clamping parts and the front V-shaped bracket.

8. An optimized design method for sheet-like thin-walled beams, used to design the sheet-like thin-walled beams according to any one of claims 1-7, comprising the following steps: S1. Construct an optimization model: Determine the central axis along the length of the sheet-like thin-walled beam, and divide the dimensions of the sheet-like thin-walled beam into four segments: L1, L2, L3, and L4 along the central axis. The edges of the four segments from L1 to L4 that are perpendicular to the central axis are divided with the central axis as the boundary, and a total of five edges are divided into d1-d10. S2. Construct the objective optimization function: The total deviation F1 between the actual force-displacement curve and the design force-displacement curve is expressed as: In the formula: N represents the total number of discrete points selected from the actual force-displacement curve, Fs represents the actual applied load, and fi represents the relative deviation between the actual force-displacement curve and the design force-displacement curve at the i-th point; S3. Introduce a penalty function F2 into the objective optimization function, and use min(F1+F2) as the overall optimization objective function, where the penalty function F2 is expressed as: Where: Ss is the actual displacement range, Sm is the specified displacement range, and Wd is the weighting coefficient; S4. Set constraints: In the formula: di is the width of the i-th point in the sheet-like thin-walled beam d1-d10; dm is the maximum width of the sheet-like thin-walled beam; δ represents the yield stress of the sheet-like thin-walled beam material; R is the safety factor; S5. Considering the mechanical properties, geometric constraints, and functional objectives of the integrated sheet-like thin-walled beam, the mathematical model for shape optimization is expressed as follows: S6. Optimize the shape design of sheet-like thin-walled beams based on ANSYS software.

9. The optimization design method according to claim 8, further characterized in that, In step S6, the particle swarm parameters are first initialized, with each particle corresponding to a set of sheet-like thin-walled beam design parameters. Then, a finite element analysis model is established for each particle parameter in ANSYS software, and the actual force-displacement curve is obtained through nonlinear finite element analysis. Based on the fitness, the global and individual optimal positions of the particles are updated. After boundary treatment, the analysis is repeated until the convergence condition is met and the optimal solution is obtained.

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