Mechanism bearing and response speed increasing method and system based on topological optimization technology

Abstract

The invention provides a mechanism bearing and response speed increasing method and system based on a topological optimization technology, and the method comprises the steps: building a mechanism initial model, and obtaining the initial mass of each component of a mechanism; carrying out optimization and non-optimization region division on a component to be subjected to topological optimization in the mechanism according to a preset requirement; topological optimization is carried out on the optimization area, and topological optimization configuration and optimized quality of each component are obtained; calculating the statics property weakening ratio of each component; whether the load mass capable of being increased exists or not is judged according to the static performance weakening ratio, and the load mass capable of being increased at the tail end of the mechanism is calculated; verifying the static and dynamic performance of the mechanism optimization configuration; and the mechanism response speed increase is calculated. According to the method, the advantages of light weight and inertia reduction brought by topological optimization design are fully utilized, and quantitative evaluation is carried out on the bearing performance and the response speed of the mechanism.

Description

Technical Field

[0001] The present invention relates to the field of structural optimization technology, and specifically, to a method and system for improving the load-bearing capacity and response speed of a mechanism based on topological optimization technology; more specifically, to a method and system for collaboratively improving the load-bearing capacity / response speed of a spatial mechanism based on topological design. Background Art

[0002] In space missions, the launch cost of space equipment is closely related to its mass and volume. Lightweight space equipment can carry more payload or achieve higher performance under the same load conditions. In recent years, with the development of topology optimization technology and metal-based additive manufacturing technology, a practical solution has been provided for the lightweight design and manufacturing of space equipment. Topology optimization technology can minimize the use of materials while meeting the strength and stiffness requirements by accurately calculating the material distribution; while metal-based additive manufacturing technology makes it possible to quickly manufacture complex structures.

[0003] Regarding the lightweight design of aerospace equipment, the Chinese invention patent with application publication number CN204186872U achieves lightweight design of spacecraft by adopting lightweight magnesium-lithium alloy materials; the Chinese invention patent with application publication number CN114186339A generates a spacecraft support frame structure through topological optimization technology, and uses laser selective melting method to perform additive manufacturing on the optimized support, thereby achieving the purpose of weight reduction and rapid manufacturing; the Chinese invention patent with application publication number CN117708978A uses the structure of skin lattice, and after topological optimization design of the initial structure of the support, the optimized structure is shelled to obtain a skin model, and the interior is filled with a lattice structure, and then the structural stress is verified through simulation and experimental verification to complete the optimization design.

[0004] In summary, existing optimization methods are mostly oriented towards single components, and pay more attention to the static performance of the structure. However, the dynamic performance of the mechanism and the advantages of the mechanism other than weight reduction after topological optimization design are not fully utilized, and it is necessary to improve them. Summary of the invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a method and system for improving the load-bearing and response speed of a mechanism based on topology optimization technology.

[0006] A method for improving the load-bearing and response speed of a mechanism based on topology optimization technology provided by the present invention includes:

[0007] Step S1: Establish an initial model of the mechanism and obtain the initial mass of each component of the mechanism;

[0008] Step S2: dividing the components to be topologically optimized in the mechanism into optimized and non-optimized areas according to preset requirements;

[0009] Step S3: topologically optimize the optimized area to obtain the topological optimized configuration and optimized quality of each component;

[0010] Step S4: Calculating the static performance weakening ratio of each component;

[0011] Step S5: judging whether there is load mass that can be increased according to the static performance weakening ratio, and calculating the load mass that can be increased at the end of the mechanism;

[0012] Step S6: judging based on the load mass that can be added to the end, verifying the static and dynamic performance of the optimized configuration of the mechanism;

[0013] Step S7: Calculate the improvement of the mechanism response speed according to the initial mass of each component, the mass after optimization, the static performance reduction ratio, and the load mass that can be increased.

[0014] Preferably, in step S1:

[0015] The initial model of the mechanism is established by 3D software, and the material properties are assigned to obtain the initial mass m of each component of the mechanism. o i;

[0016] In step S2:

[0017] The components to be optimized are divided into optimized areas and non-optimized areas. To ensure the overall working requirements of the mechanism, the optimized area does not include the preset connection areas between components to ensure reliable installation, the preset load-bearing areas to ensure correct application of the workload, and the preset parts with special requirements such as positioning. Among them, the load-bearing areas to ensure correct application of the workload include the load-bearing surfaces where uniformly distributed loads are applied.

[0018] Preferably, in step S3:

[0019] The optimization problem is defined according to the actual working conditions of the mechanism, and the optimization area in the component is discretized by finite elements. The minimum flexibility of the equal material structure is taken as the optimization target, the unit pseudo-density is taken as the design variable, and the volume fraction ratio is taken as the constraint condition for topological optimization. The topological optimization configuration and the structural optimization mass m are obtained. ti ;

[0020] The specific optimization formula is as follows:

[0021] findρ=(ρ 11 , 12 …ρ ij ) T ∈R, (i=1, 2…m; j=1, 2…n)

[0022]

[0023] stKU=F

[0024]

[0025] 0<ρ min ≤ρ ij <1

[0026] Among them, ρ ij (i=1, 2…m; j=1, 2…n) represents the pseudo density of each unit in the optimization area, m is the number of units in the i direction in the optimization area, n is the number of units in the j direction in the optimization area; R is a set of real numbers; C is the structural flexibility; F is the load vector; U is the displacement vector; K is the structural stiffness matrix; T is the transpose; V is the optimized volume; u ij is the unit displacement vector; k0 is the stiffness matrix of the initial unit; f is the volume fraction ratio; V0 is the initial volume; v ij is the unit volume; p is the penalty coefficient; ρ min To design the lower limit of density, a preset small positive number is taken to prevent the stiffness matrix from being singular during optimization.

[0027] Preferably, in step S4:

[0028] The initial configuration and topology optimization configuration of each optimized component in the mechanism are subjected to static analysis according to the actual working conditions of the mechanism, and the maximum Mises equivalent stress F of the initial configuration is obtained. oi , maximum deformation S oi and the maximum Mises equivalent stress F of the topologically optimized configuration ti , maximum deformation S ti , and calculate the static performance weakening ratio K of the topological optimization configuration of each component i ;

[0029] The specific calculation formula is as follows:

[0030]

[0031] Preferably, in step S5:

[0032] Compare the static performance weakening ratio K of the end component of the mechanism n Compared with its weight loss k , when the weight reduction ratio M k Greater than the static performance weakening ratio K n Calculate the load mass m that can be added to the end of the mechanism when a ;

[0033] The specific calculation formula is as follows:

[0034]

[0035] m a =(1-K n )(M k -K n )(m on -m tn )

[0036] Among them, m on is the initial configuration mass of the final component; mt n is the topological optimization configuration quality of the end component; n is the nth component in the mechanism, i.e., the end component;

[0037] When the weight reduction ratio M k Less than or equal to the static performance reduction ratio K i When the load mass m is not increased, the mechanism is considered a .

[0038] Preferably, in step S6:

[0039] The optimized configuration of the mechanism is discretized by finite elements, and static and dynamic performance analysis and verification are performed according to the actual working conditions of the mechanism; when the preset performance requirements are met, the topology optimization design is completed and the next step is entered; when the preset performance requirements are not met, the process returns to step S3, the volume ratio parameters during topology optimization are adjusted, and the optimized configuration of the component is obtained again;

[0040] When there is a load mass that can be added to the end, the mass is connected to the load installation position of the mechanism in the form of a mass point, and static and dynamic analysis verification is performed; when there is no load mass that can be added to the end, static and dynamic analysis verification is not performed;

[0041] Among them, the performance requirements are not met when the following conditions occur:

[0042] When the maximum Mises equivalent stress of each component in the mechanism exceeds its permissible range; when the maximum deformation of each component in the mechanism exceeds its permissible range; when the natural frequency of the mechanism is close to the operating frequency; when the natural frequency of the mechanism is close to the preset excitation frequency that may cause resonance; when the natural frequency of the mechanism is close to the natural frequency that has a probability of existing in the working environment.

[0043] Preferably, in step S7:

[0044] For the mobile motion joints in the mechanism, the response speed is improved to:

[0045]

[0046] Among them, r iK is the response speed improvement at the i-th joint; i is the static performance weakening ratio of the i-th component; i is the weight of the mass at the i-th joint to the response speed of the joint;

[0047] For the rotational motion joints in the mechanism, the response speed is improved to:

[0048]

[0049] Among them, K i is the static performance weakening ratio of the i-th component; i is the weight of the moment of inertia at the i-th joint to the response speed of the joint; I oi is the moment of inertia of the current joint of the initial configuration of the i-th component; ti The topological optimization configuration of the i-th component is used for the current joint moment of inertia.

[0050] A mechanism load-bearing and response speed improvement system based on topology optimization technology provided by the present invention includes:

[0051] Module M1: Establish the initial model of the mechanism and obtain the initial mass of each component of the mechanism;

[0052] Module M2: Divide the components to be topologically optimized in the mechanism into optimized and non-optimized areas according to preset requirements;

[0053] Module M3: Topological optimization of the optimization area to obtain the topological optimization configuration and optimized quality of each component;

[0054] Module M4: Calculate the static performance weakening ratio of each component;

[0055] Module M5: Determine whether there is load mass that can be increased based on the static performance weakening ratio, and calculate the load mass that can be increased at the end of the mechanism;

[0056] Module M6: Based on the load mass that can be added to the end, the static and dynamic performance of the optimized configuration of the mechanism is verified;

[0057] Module M7: Calculate the improvement in the response speed of the mechanism based on the initial mass of each component, the mass after optimization, the static performance reduction ratio, and the load mass that can be increased.

[0058] Preferably, in the module M1:

[0059] The initial model of the mechanism is established by 3D software, and the material properties are assigned to obtain the initial mass m of each component of the mechanism. oi ;

[0060] In the module M2:

[0061] The components to be optimized are divided into optimized areas and non-optimized areas. To ensure the overall working requirements of the mechanism, the optimized area does not include the preset connection areas between the components to ensure reliable installation, the preset load-bearing areas to ensure that the workload is applied correctly, and the preset parts with special requirements such as positioning. Among them, the load-bearing areas to ensure that the workload is applied correctly include the load-bearing surfaces to which uniformly distributed loads are applied;

[0062] In the module M3:

[0063] The optimization problem is defined according to the actual working conditions of the mechanism, and the optimization area in the component is discretized by finite elements. The minimum flexibility of the equal material structure is taken as the optimization target, the unit pseudo-density is taken as the design variable, and the volume fraction ratio is taken as the constraint condition for topological optimization to obtain the topological optimization configuration and the structural optimization quality mt i ;

[0064] The specific optimization formula is as follows:

[0065] findρ=(ρ 11 , 12 …ρ ij ) T ∈R, (i=1, 2…m; j=1, 2…n)

[0066]

[0067] stKU=F

[0068]

[0069] 0<ρ min ≤ρ ij <1

[0070] Among them, ρ ij (i=1, 2…m; j=1, 2…n) represents the pseudo density of each unit in the optimization area, m is the number of units in the i direction in the optimization area, n is the number of units in the j direction in the optimization area; R is a set of real numbers; C is the structural flexibility; F is the load vector; U is the displacement vector; K is the structural stiffness matrix; T is the transpose; V is the optimized volume; u ij is the unit displacement vector; k0 is the stiffness matrix of the initial unit; f is the volume fraction ratio; V0 is the initial volume; v ij is the unit volume; p is the penalty coefficient; ρ min To design the lower limit of density, a preset small positive number is taken to prevent the stiffness matrix from being singular during optimization.

[0071] Preferably, in the module M4:

[0072] The initial configuration and topology optimization configuration of each optimized component in the mechanism are subjected to static analysis according to the actual working conditions of the mechanism, and the maximum Mises equivalent stress F of the initial configuration is obtained. oi , maximum deformation S oi and the maximum Mises equivalent stress F of the topologically optimized configuration ti , maximum deformation S ti , and calculate the static performance weakening ratio K of the topological optimization configuration of each component i ;

[0073] The specific calculation formula is as follows:

[0074]

[0075] In the module M5:

[0076] Compare the static performance weakening ratio K of the end component of the mechanism n Compared with its weight loss k , when the weight reduction ratio M k Greater than the static performance weakening ratio K n Calculate the load mass m that can be added to the end of the mechanism when a ;

[0077] The specific calculation formula is as follows:

[0078]

[0079] m a =(1-K n )(M k -K n )(m on -m tn )

[0080] Among them, m on is the initial configuration mass of the final component; mt n is the topological optimization configuration quality of the end component; n is the nth component in the mechanism, i.e., the end component;

[0081] When the weight reduction ratio M k Less than or equal to the static performance reduction ratio K i When the load mass m is not increased, the mechanism is considered a ;

[0082] In the module M6:

[0083] The optimized configuration of the mechanism is discretized by finite elements, and the static and dynamic performance analysis and verification are performed according to the actual working conditions of the mechanism; when the preset performance requirements are met, the topology optimization design is completed and the next step is entered; when the preset performance requirements are not met, the module returns to module M3, the volume ratio parameters during topology optimization are adjusted, and the optimized configuration of the component is obtained again;

[0084] When there is a load mass that can be added to the end, the mass is connected to the load installation position of the mechanism in the form of a mass point, and static and dynamic analysis verification is performed; when there is no load mass that can be added to the end, static and dynamic analysis verification is not performed;

[0085] Among them, the performance requirements are not met when the following conditions occur:

[0086] When the maximum Mises equivalent stress of each component in the mechanism exceeds its permissible range; when the maximum deformation of each component in the mechanism exceeds its permissible range; when the natural frequency of the mechanism is close to the working frequency; when the natural frequency of the mechanism is close to the preset excitation frequency that may cause resonance; when the natural frequency of the mechanism is close to the natural frequency that has a probability of existing in the working environment;

[0087] In the module M7:

[0088] For the mobile motion joints in the mechanism, the response speed is improved to:

[0089]

[0090] Among them, r i K is the response speed improvement at the i-th joint; i is the static performance weakening ratio of the i-th component; i is the weight of the mass at the i-th joint to the response speed of the joint;

[0091] For the rotational motion joints in the mechanism, the response speed is improved to:

[0092]

[0093] Among them, K i is the static performance weakening ratio of the i-th component; i is the weight of the moment of inertia at the i-th joint to the response speed of the joint; I oi is the moment of inertia of the current joint of the initial configuration of the i-th component; ti The topological optimization configuration of the i-th component is used for the current joint moment of inertia.

[0094] Compared with the prior art, the present invention has the following beneficial effects:

[0095] 1. The present invention provides a systematic calculation method, including a complete process from initial model establishment, topology optimization, load-bearing improvement calculation, performance verification, to the final response speed improvement calculation, making the design process more standardized and systematic.

[0096] 2. After the optimized design, the static and dynamic performances of the present invention are verified to ensure that the optimization results meet the needs of actual working conditions, and allow the designer to adjust the volume ratio parameters during optimization according to the actual working conditions and performance requirements of the mechanism, making the design process more flexible and adaptable.

[0097] 3. The present invention makes full use of the advantages of lightweight and inertia reduction brought by topological optimization design, and quantitatively evaluates the load-bearing performance and response speed of the mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0099] Figure 1 This is a flow chart of a calculation method for improving the load-bearing capacity and response speed of a mechanism based on topology optimization technology proposed by the present invention;

[0100] Figure 2 This is a schematic diagram of the initial structural model in Example 3 of the present invention;

[0101] Figure 3 A schematic diagram of dividing the optimized area and the non-optimized area of ​​the component to be topologically optimized in Example 3 of the present invention;

[0102] Figure 4 It is a schematic diagram of a topology optimization structure model in Example 3 of the present invention;

[0103] Figure 5 This is a schematic diagram of mass point loading in Example 3 of the present invention;

[0104] Among them, 1 is the upper bracket; 2 is the middle bracket; 3 is the lower bracket; 4 is the upper right bearing mounting hole; 5 is the upper left bearing mounting hole and threaded hole; 6 is the bottom bolt mounting hole; 7 is the upper right bearing mounting hole and threaded hole; 8 is the upper left bearing mounting hole; 9 is the lower bearing mounting hole; 10 is the upper load mounting hole; 11 is the lower left and right bearing mounting holes; 12 is the second lower bracket; 13 is the second middle bracket; 14 is the second upper bracket. DETAILED DESCRIPTION

[0105] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0106] Embodiment 1:

[0107] The present invention provides a calculation method for improving the load-bearing capacity and response speed of a mechanism based on topology optimization technology. After the initial structure is lightweight designed through topology optimization technology, the improvement in the load-bearing capacity of the mechanism is calculated and the static and dynamic performances are verified. Finally, the improvement in response speed is quantitatively evaluated, making the optimization design process more standardized and systematic.

[0108] A method for improving the load-bearing and response speed of a mechanism based on topology optimization technology provided by the present invention includes:

[0109] Step S1: Establish an initial model of the mechanism and obtain the initial mass of each component of the mechanism;

[0110] Specifically, in step S1:

[0111] The initial model of the mechanism is established by 3D software, and the material properties are assigned to obtain the initial mass m of each component of the mechanism. o i;

[0112] Step S2: dividing the components to be topologically optimized in the mechanism into optimized and non-optimized areas according to preset requirements;

[0113] In step S2:

[0114] The components to be optimized are divided into optimized areas and non-optimized areas. To ensure the overall working requirements of the mechanism, the optimized area does not include the preset connection areas between components to ensure reliable installation, the preset load-bearing areas to ensure correct application of the workload, and the preset parts with special requirements such as positioning. Among them, the load-bearing areas to ensure correct application of the workload include the load-bearing surfaces where uniformly distributed loads are applied.

[0115] Step S3: topologically optimize the optimized area to obtain the topological optimized configuration and optimized quality of each component;

[0116] Specifically, in step S3:

[0117] The optimization problem is defined according to the actual working conditions of the mechanism, and the optimization area in the component is discretized by finite elements. The minimum flexibility of the equal material structure is taken as the optimization target, the unit pseudo-density is taken as the design variable, and the volume fraction ratio is taken as the constraint condition for topological optimization to obtain the topological optimization configuration and the structural optimization quality mti ;

[0118] The specific optimization formula is as follows:

[0119] findρ=(ρ 11 , 12 …ρ ij ) T ∈R, (i=1, 2…m; j=1, 2…n)

[0120]

[0121] stKU=F

[0122]

[0123] 0<ρ min ≤ρ ij <1

[0124] Among them, ρ ij (i=1, 2…m; j=1, 2…n) represents the pseudo density of each unit in the optimization area, m is the number of units in the i direction in the optimization area, n is the number of units in the j direction in the optimization area; R is a set of real numbers; C is the structural flexibility; F is the load vector; U is the displacement vector; K is the structural stiffness matrix; T is the transpose; V is the optimized volume; u ij is the unit displacement vector; k0 is the stiffness matrix of the initial unit; f is the volume fraction ratio; V0 is the initial volume; v ij is the unit volume; p is the penalty coefficient; ρ min To design the lower limit of density, a preset small positive number is taken to prevent the stiffness matrix from being singular during optimization.

[0125] Step S4: Calculating the static performance weakening ratio of each component;

[0126] Specifically, in step S4:

[0127] The initial configuration and topology optimization configuration of each optimized component in the mechanism are subjected to static analysis according to the actual working conditions of the mechanism, and the maximum Mises equivalent stress F of the initial configuration is obtained. oi , maximum deformation S oi and the maximum Mises equivalent stress F of the topologically optimized configuration ti , maximum deformation S ti , and calculate the static performance weakening ratio K of the topological optimization configuration of each component i ;

[0128] The specific calculation formula is as follows:

[0129]

[0130] Step S5: judging whether there is load mass that can be increased according to the static performance weakening ratio, and calculating the load mass that can be increased at the end of the mechanism;

[0131] Specifically, in step S5:

[0132] Compare the static performance weakening ratio K of the end component of the mechanism n Compared with its weight loss k , when the weight reduction ratio M k Greater than the static performance weakening ratio K n Calculate the load mass m that can be added to the end of the mechanism when a ;

[0133] The specific calculation formula is as follows:

[0134]

[0135] m a =(1-K n )(M k -K n )(m on -m tn )

[0136] Among them, m on is the initial configuration mass of the final component; mt n is the topological optimization configuration quality of the end component; n is the nth component in the mechanism, i.e., the end component;

[0137] When the weight reduction ratio M k Less than or equal to the static performance reduction ratio K i When the load mass m is not increased, the mechanism is considered a .

[0138] Step S6: judging based on the load mass that can be added to the end, verifying the static and dynamic performance of the optimized configuration of the mechanism;

[0139] Specifically, in step S6:

[0140] The optimized configuration of the mechanism is discretized by finite elements, and static and dynamic performance analysis and verification are performed according to the actual working conditions of the mechanism; when the preset performance requirements are met, the topology optimization design is completed and the next step is entered; when the preset performance requirements are not met, the process returns to step S3, the volume ratio parameters during topology optimization are adjusted, and the optimized configuration of the component is obtained again;

[0141] When there is a load mass that can be added to the end, the mass is connected to the load installation position of the mechanism in the form of a mass point, and static and dynamic analysis verification is performed; when there is no load mass that can be added to the end, static and dynamic analysis verification is not performed;

[0142] Among them, the performance requirements are not met when the following conditions occur:

[0143] When the maximum Mises equivalent stress of each component in the mechanism exceeds its permissible range; when the maximum deformation of each component in the mechanism exceeds its permissible range; when the natural frequency of the mechanism is close to the operating frequency; when the natural frequency of the mechanism is close to the preset excitation frequency that may cause resonance; when the natural frequency of the mechanism is close to the natural frequency that has a probability of existing in the working environment.

[0144] Step S7: Calculate the improvement of the mechanism response speed according to the initial mass of each component, the mass after optimization, the static performance reduction ratio, and the load mass that can be increased.

[0145] Specifically, in step S7:

[0146] For the mobile motion joints in the mechanism, the response speed is improved to:

[0147]

[0148] Among them, r i K is the response speed improvement at the i-th joint; i is the static performance weakening ratio of the i-th component; i is the weight of the mass at the i-th joint to the response speed of the joint;

[0149] For the rotational motion joints in the mechanism, the response speed is improved to:

[0150]

[0151] Among them, K i is the static performance weakening ratio of the i-th component; i is the weight of the moment of inertia at the i-th joint to the response speed of the joint; I oi is the moment of inertia of the current joint of the initial configuration of the i-th component; ti The topological optimization configuration of the i-th component is used for the current joint moment of inertia.

[0152] Embodiment 2:

[0153] Embodiment 2 is a preferred example of Embodiment 1, and is used to illustrate the present invention in more detail.

[0154] The present invention also provides a mechanism load-bearing and response speed improvement system based on topology optimization technology. The mechanism load-bearing and response speed improvement system based on topology optimization technology can be realized by executing the process steps of the mechanism load-bearing and response speed improvement method based on topology optimization technology, that is, those skilled in the art can understand the mechanism load-bearing and response speed improvement method based on topology optimization technology as a preferred implementation of the mechanism load-bearing and response speed improvement system based on topology optimization technology.

[0155] A mechanism load-bearing and response speed improvement system based on topology optimization technology provided by the present invention includes:

[0156] Module M1: Establish the initial model of the mechanism and obtain the initial mass of each component of the mechanism;

[0157] Specifically, in the module M1:

[0158] The initial model of the mechanism is established by 3D software, and the material properties are assigned to obtain the initial mass m of each component of the mechanism. oi ;

[0159] Module M2: Divide the components to be topologically optimized in the mechanism into optimized and non-optimized areas according to preset requirements;

[0160] In the module M2:

[0161] The components to be optimized are divided into optimized areas and non-optimized areas. To ensure the overall working requirements of the mechanism, the optimized area does not include the preset connection areas between the components to ensure reliable installation, the preset load-bearing areas to ensure that the workload is applied correctly, and the preset parts with special requirements such as positioning. Among them, the load-bearing areas to ensure that the workload is applied correctly include the load-bearing surfaces to which uniformly distributed loads are applied;

[0162] Module M3: Topological optimization of the optimization area to obtain the topological optimization configuration and optimized quality of each component;

[0163] In the module M3:

[0164] The optimization problem is defined according to the actual working conditions of the mechanism, and the optimization area in the component is discretized by finite elements. The minimum flexibility of the equal material structure is taken as the optimization target, the unit pseudo-density is taken as the design variable, and the volume fraction ratio is taken as the constraint condition for topological optimization. The topological optimization configuration and the structural optimization mass m are obtained. t i;

[0165] The specific optimization formula is as follows:

[0166] findρ=(ρ 11 , 12 …ρ ij ) T∈R, (i=1, 2…m; j=1, 2…n)

[0167]

[0168] stKU=F

[0169]

[0170] 0<ρ min ≤ρ ij <1

[0171] Among them, ρ ij (i=1, 2…m; j=1, 2…n) represents the pseudo density of each unit in the optimization area, m is the number of units in the i direction in the optimization area, n is the number of units in the j direction in the optimization area; R is a set of real numbers; C is the structural flexibility; F is the load vector; U is the displacement vector; K is the structural stiffness matrix; T is the transpose; V is the optimized volume; u ij is the unit displacement vector; k0 is the stiffness matrix of the initial unit; f is the volume fraction ratio; V0 is the initial volume; v ij is the unit volume; p is the penalty coefficient; ρ min To design the lower limit of density, a preset small positive number is taken to prevent the stiffness matrix from being singular during optimization.

[0172] Module M4: Calculate the static performance weakening ratio of each component;

[0173] Specifically, in the module M4:

[0174] The initial configuration and topology optimization configuration of each optimized component in the mechanism are subjected to static analysis according to the actual working conditions of the mechanism, and the maximum Mises equivalent stress F of the initial configuration is obtained. oi , maximum deformation S oi and the maximum Mises equivalent stress F of the topologically optimized configuration ti , maximum deformation S ti , and calculate the static performance weakening ratio K of the topological optimization configuration of each component i ;

[0175] The specific calculation formula is as follows:

[0176]

[0177] Module M5: Determine whether there is load mass that can be increased based on the static performance weakening ratio, and calculate the load mass that can be increased at the end of the mechanism;

[0178] In the module M5:

[0179] Compare the static performance weakening ratio K of the end component of the mechanismn Compared with its weight loss k , when the weight reduction ratio M k Greater than the static performance weakening ratio K n Calculate the load mass m that can be added to the end of the mechanism when a ;

[0180] The specific calculation formula is as follows:

[0181]

[0182] m a =(1-K n )(M k -K n )(m on -m tn )

[0183] Among them, m on is the initial configuration mass of the final component; mt n is the topological optimization configuration quality of the end component; n is the nth component in the mechanism, i.e., the end component;

[0184] When the weight reduction ratio M k Less than or equal to the static performance reduction ratio K i When the load mass m is not increased, the mechanism is considered a ;

[0185] Module M6: Based on the load mass that can be added to the end, the static and dynamic performance of the optimized configuration of the mechanism is verified;

[0186] In the module M6:

[0187] The optimized configuration of the mechanism is discretized by finite elements, and the static and dynamic performance analysis and verification are performed according to the actual working conditions of the mechanism; when the preset performance requirements are met, the topology optimization design is completed and the next step is entered; when the preset performance requirements are not met, the module returns to module M3, the volume ratio parameters during topology optimization are adjusted, and the optimized configuration of the component is obtained again;

[0188] When there is a load mass that can be added to the end, the mass is connected to the load installation position of the mechanism in the form of a mass point, and static and dynamic analysis verification is performed; when there is no load mass that can be added to the end, static and dynamic analysis verification is not performed;

[0189] Among them, the performance requirements are not met when the following conditions occur:

[0190] When the maximum Mises equivalent stress of each component in the mechanism exceeds its permissible range; when the maximum deformation of each component in the mechanism exceeds its permissible range; when the natural frequency of the mechanism is close to the working frequency; when the natural frequency of the mechanism is close to the preset excitation frequency that may cause resonance; when the natural frequency of the mechanism is close to the natural frequency that has a probability of existing in the working environment;

[0191] Module M7: Calculate the improvement in the response speed of the mechanism based on the initial mass of each component, the mass after optimization, the static performance reduction ratio, and the load mass that can be increased.

[0192] In the module M7:

[0193] For the mobile motion joints in the mechanism, the response speed is improved to:

[0194]

[0195] Among them, r i K is the response speed improvement at the i-th joint; i is the static performance weakening ratio of the i-th component; i is the weight of the mass at the i-th joint to the response speed of the joint;

[0196] For the rotational motion joints in the mechanism, the response speed is improved to:

[0197]

[0198] Among them, K i is the static performance weakening ratio of the i-th component; i is the weight of the moment of inertia at the i-th joint to the response speed of the joint; I oi is the moment of inertia of the current joint of the initial configuration of the i-th component; ti The topological optimization configuration of the i-th component is used for the current joint moment of inertia.

[0199] Embodiment 3:

[0200] Embodiment 3 is a preferred example of Embodiment 1, and is used to illustrate the present invention in more detail.

[0201] like Figure 1 As shown, the present invention provides a method for calculating the load-bearing capacity and response speed improvement of a mechanism based on topology optimization technology, comprising the following steps:

[0202] Step S1: Establish the initial model of the mechanism and obtain the initial mass m of each component of the mechanism oi ;

[0203] Step S2: dividing the components to be topologically optimized in the mechanism into optimized and non-optimized areas according to preset requirements;

[0204] Step S3: Perform topological optimization on the optimized area to obtain the topological optimized configuration of each component and the optimized mass m t i;

[0205] Step S4: Calculating the static performance weakening ratio of each component;

[0206] Step S5: Calculate the load mass that can be added to the end of the mechanism;

[0207] Step S6: verifying the static and dynamic performance of the optimized configuration of the mechanism;

[0208] Step S7: Calculate the improvement in mechanism response speed.

[0209] Specifically, the step S1 adopts:

[0210] like Figure 2 As shown in the figure, the initial structure model is established by 3D software, in which the three components to be optimized are lower bracket 1, middle bracket 2 and upper bracket 3. The material of the mechanism is set to stainless steel, and the masses of the three components to be optimized in the mechanism are obtained. o1 )、Middle bracket 2(m o2 ) and upper bracket 3(m o3 ).

[0211] Specifically, the step S2 adopts:

[0212] like Figure 3 As shown in the figure, according to the installation and bearing requirements of the structure, the components to be optimized are divided into optimized areas and non-optimized areas.

[0213] The division result under the bracket is as follows Figure 3-1 As shown, the upper right bearing mounting hole 4 is expanded by 6mm, the upper left bearing mounting hole and threaded hole 5 is expanded by 6mm, and the bottom bolt mounting hole 6 is expanded by 3mm as non-optimized areas, and the rest is the optimized area; the division structure in the bracket is as follows Figure 3-2 As shown, the upper right bearing mounting hole and threaded hole 7 are expanded by 6mm, the upper left bearing mounting hole 8 is expanded by 6mm, and the lower bearing mounting hole 9 is expanded by 3mm as non-optimized areas, and the rest are optimized areas; the division structure on the bracket is as follows Figure 3-3 As shown, the upper load mounting hole 10 is expanded by 3 mm and the lower left and right bearing mounting holes 11 are expanded by 3 mm as non-optimized areas, and the rest is the optimized area.

[0214] Specifically, the step S3 adopts:

[0215] The bottom bolt mounting hole under the bracket is set as a fixed boundary condition, and the upper load mounting hole on the bracket is subjected to a uniform load. The optimized area in the component is discretized by finite elements, and the solid isotropic material penalty method (SIMP) is used. The minimum flexibility of the equal material structure is used as the optimization target, and the volume fraction ratio of 30% is set as a constraint condition for topological optimization. The topological optimization configuration and mass are obtained. The second lower bracket 12 (m t1 )、Second middle bracket 13(m t2 ), the second upper bracket 14 (mt3). The topological optimization configuration is as follows Figure 4 shown.

[0216] Specifically, the step S4 adopts:

[0217] The initial configuration and topology optimization configuration of the three topology optimization components in the mechanism were subjected to static analysis, and the maximum Mises equivalent stress and maximum deformation (F o1 、F t1 , S o1 , S t1 ), the maximum Mises equivalent stress and maximum deformation of the two configurations of the bracket- o2 、F t2 , S o2 , S t2 ), the maximum Mises equivalent stress and maximum deformation of the two configurations on the bracket (F o3 、F t3 , S o3 , S t3 ), and the static performance weakening ratios K1, K2, and K3 of the three topology optimized components are calculated.

[0218] The specific calculation formula is as follows:

[0219]

[0220] Specifically, the step S5 adopts:

[0221] After calculation, the static performance weakening ratio of the support-upper end component of the mechanism is K3 = 10.99%, and the weight reduction ratio M k =59.65%. By comparison, the static performance weakening ratio K3 of the end member bracket of the mechanism is less than its weight reduction ratio M k , it is considered that the mechanism can increase the load mass m a .

[0222] The specific calculation results are as follows:

[0223] m a =(1-K n )(M k -Kn )(m on -m tn )

[0224] =(1-10.99%)(59.65%-10.99%)(1651.323-666.355)=426.61g

[0225] Specifically, the step S6 adopts:

[0226] like Figure 5 As shown, the load mass m can be increased a The load installation position of the mechanism is connected in the form of mass points, and the optimized configuration of the mechanism is discretized by finite elements. The static and dynamic performance analysis and verification are carried out according to the actual working conditions of the mechanism. It is verified that the following situations do not exist:

[0227] The maximum Mises equivalent stress of each component in the mechanism exceeds its permissible range;

[0228] The maximum deformation of each component in the mechanism exceeds its permissible range;

[0229] The natural frequency of the mechanism is close to the operating frequency;

[0230] The natural frequency of the mechanism is close to the excitation frequency that may cause resonance;

[0231] The natural frequency of the mechanism is close to the natural frequency that may exist in the working environment.

[0232] It is considered that the performance requirements are met, the topology optimization design is completed, and the next step is entered.

[0233] Specifically, the step S7 adopts:

[0234] In this example mechanism, there are two revolute joints: bracket-lower and bracket-middle (r1), bracket-middle and bracket-upper (r2), and their respective response speeds are improved as follows:

[0235]

[0236] Among them, K1 is the static performance weakening ratio of the bracket-lower; λ1 is the weight of the moment of inertia at the first joint to the response speed of the joint; K2 is the static performance weakening ratio of the bracket-middle; λ2 is the weight of the moment of inertia at the second joint to the response speed of the joint.

[0237] In summary, the present invention provides a calculation method for improving the load-bearing and response speed of a mechanism based on topological optimization technology. The topological optimization configuration of the component is obtained by performing topological optimization design on the initial configuration of the component; then, the increaseable load mass of the mechanism is calculated by calculating the static performance weakening ratio of each component; then, iterative verification of the static and dynamic performance is performed to ensure that the mechanism meets the requirements; finally, the improvement of the response speed of each joint of the mechanism is evaluated, so that the optimization design process is more standardized and systematic.

[0238] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0239] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for improving the load-bearing capacity and response speed of a mechanism based on topology optimization technology, characterized in that: include: Step S1: Establish an initial model of the mechanism and obtain the initial mass of each component of the mechanism; Step S2: dividing the components to be topologically optimized in the mechanism into optimized and non-optimized areas according to preset requirements; Step S3: topologically optimize the optimized area to obtain the topological optimized configuration and optimized quality of each component; Step S4: Calculating the static performance weakening ratio of each component; Step S5: judging whether there is load mass that can be increased according to the static performance weakening ratio, and calculating the load mass that can be increased at the end of the mechanism; Step S6: judging based on the load mass that can be added to the end, verifying the static and dynamic performance of the optimized configuration of the mechanism; Step S7: Calculate the improvement of the mechanism response speed according to the initial mass of each component, the mass after optimization, the static performance reduction ratio, and the load mass that can be increased.

2. The method for improving the load-bearing capacity and response speed of a mechanism based on topology optimization technology according to claim 1, characterized in that: In step S1: The initial model of the mechanism is established by 3D software, and the material properties are assigned to obtain the initial mass m of each component of the mechanism. o i; In step S2: The components to be optimized are divided into optimized areas and non-optimized areas. To ensure the overall working requirements of the mechanism, the optimized area does not include the preset connection areas between components to ensure reliable installation, the preset load-bearing areas to ensure correct application of the workload, and the preset parts with special requirements such as positioning. Among them, the load-bearing areas to ensure correct application of the workload include the load-bearing surfaces where uniformly distributed loads are applied.

3. The method for improving the load-bearing capacity and response speed of a mechanism based on topology optimization technology according to claim 1, characterized in that: In step S3: The optimization problem is defined according to the actual working conditions of the mechanism, and the optimization area in the component is discretized by finite elements. The minimum flexibility of the equal material structure is taken as the optimization target, the unit pseudo-density is taken as the design variable, and the volume fraction ratio is taken as the constraint condition for topological optimization. The topological optimization configuration and the structural optimization mass m are obtained. t i; The specific optimization formula is as follows: findρ=(ρ 11 ,r 12 …r ij ) T ∈R,(i=1、2…m;j=1、2…n) stKU=F 0<ρ min ≤ρ ij <1 Among them, ρ ij (i=1, 2…m; j=1, 2…n) represents the pseudo density of each unit in the optimization area, m is the number of units in the i direction in the optimization area, n is the number of units in the j direction in the optimization area; R is a set of real numbers; C is the structural flexibility; F is the load vector; U is the displacement vector; K is the structural stiffness matrix; T is the transpose; V is the optimized volume; u ij is the unit displacement vector; k0 is the stiffness matrix of the initial unit; f is the volume fraction ratio; V0 is the initial volume; v ij is the unit volume; p is the penalty coefficient; ρ min To design the lower limit of density, a preset small positive number is taken to prevent the stiffness matrix from being singular during optimization.

4. The method for improving the load-bearing capacity and response speed of a mechanism based on topology optimization technology according to claim 1, characterized in that: In step S4: The initial configuration and topology optimization configuration of each optimized component in the mechanism are subjected to static analysis according to the actual working conditions of the mechanism, and the maximum Mises equivalent stress F of the initial configuration is obtained. oi , maximum deformation S oi and the maximum Mises equivalent stress F of the topologically optimized configuration ti , maximum deformation S ti , and calculate the static performance weakening ratio K of the topological optimization configuration of each component i ; The specific calculation formula is as follows:

5. The method for improving the load-bearing capacity and response speed of a mechanism based on topology optimization technology according to claim 1, characterized in that: In step S5: Compare the static performance weakening ratio K of the end component of the mechanism n Compared with its weight loss k , when the weight reduction ratio M k Greater than the static performance weakening ratio K n Calculate the load mass m that can be added to the end of the mechanism when a ; The specific calculation formula is as follows: m a =(1-K n )(M k -K n )(m on -m tn ) Among them, m on is the initial configuration mass of the final component; mt n is the topological optimization configuration quality of the end component; n is the nth component in the mechanism, i.e., the end component; When the weight reduction ratio M k Less than or equal to the static performance reduction ratio K i When the load mass m is not increased, the mechanism is considered a .

6. The method for improving the load-bearing capacity and response speed of a mechanism based on topology optimization technology according to claim 1, characterized in that: In step S6: The optimized configuration of the mechanism is discretized by finite elements, and static and dynamic performance analysis and verification are performed according to the actual working conditions of the mechanism; when the preset performance requirements are met, the topology optimization design is completed and the next step is entered; when the preset performance requirements are not met, the process returns to step S3, the volume ratio parameters during topology optimization are adjusted, and the optimized configuration of the component is obtained again; When there is a load mass that can be added to the end, the mass is connected to the load installation position of the mechanism in the form of a mass point, and static and dynamic analysis verification is performed; when there is no load mass that can be added to the end, static and dynamic analysis verification is not performed; Among them, the performance requirements are not met when the following conditions occur: When the maximum Mises equivalent stress of each component in the mechanism exceeds its permissible range; when the maximum deformation of each component in the mechanism exceeds its permissible range; when the natural frequency of the mechanism is close to the operating frequency; when the natural frequency of the mechanism is close to the preset excitation frequency that may cause resonance; when the natural frequency of the mechanism is close to the natural frequency that has a probability of existing in the working environment.

7. The method for improving the load-bearing capacity and response speed of a mechanism based on topology optimization technology according to claim 1, characterized in that: In step S7: For the mobile motion joints in the mechanism, the response speed is improved to: Among them, r i K is the response speed improvement at the i-th joint; i is the static performance weakening ratio of the i-th component; i is the weight of the mass at the i-th joint to the response speed of the joint; For the rotational motion joints in the mechanism, the response speed is improved to: Among them, K i is the static performance weakening ratio of the i-th component; i is the weight of the moment of inertia at the i-th joint to the response speed of the joint; I oi is the moment of inertia of the current joint of the initial configuration of the i-th component; ti The topological optimization configuration of the i-th component is for the current joint moment of inertia.

8. A mechanism load-bearing and response speed improvement system based on topology optimization technology, characterized in that: include: Module M1: Establish the initial model of the mechanism and obtain the initial mass of each component of the mechanism; Module M2: Divide the components to be topologically optimized in the mechanism into optimized and non-optimized areas according to preset requirements; Module M3: Topological optimization of the optimization area to obtain the topological optimization configuration and optimized quality of each component; Module M4: Calculate the static performance weakening ratio of each component; Module M5: Determine whether there is load mass that can be increased based on the static performance weakening ratio, and calculate the load mass that can be increased at the end of the mechanism; Module M6: Based on the load mass that can be added to the end, the static and dynamic performance of the optimized configuration of the mechanism is verified; Module M7: Calculate the improvement in the response speed of the mechanism based on the initial mass of each component, the mass after optimization, the static performance reduction ratio, and the load mass that can be increased.

9. The mechanism load-bearing and response speed improvement system based on topology optimization technology according to claim 8, characterized in that: In the module M1: The initial model of the mechanism is established by 3D software, and the material properties are assigned to obtain the initial mass m of each component of the mechanism. oi ; In the module M2: The components to be optimized are divided into optimized areas and non-optimized areas. To ensure the overall working requirements of the mechanism, the optimized area does not include the preset connection areas between the components to ensure reliable installation, the preset load-bearing areas to ensure that the workload is applied correctly, and the preset parts with special requirements such as positioning. Among them, the load-bearing areas to ensure that the workload is applied correctly include the load-bearing surfaces to which uniformly distributed loads are applied; In the module M3: The optimization problem is defined according to the actual working conditions of the mechanism, and the optimization area in the component is discretized by finite elements. The minimum flexibility of the equal material structure is taken as the optimization target, the unit pseudo-density is taken as the design variable, and the volume fraction ratio is taken as the constraint condition for topological optimization. The topological optimization configuration and the structural optimization mass m are obtained. t i; The specific optimization formula is as follows: findρ=(ρ 11 ,r 12 …r ij ) T ∈R,(i=1、2…m;j=1、2…n) stKU=F 0<ρ min ≤ρ ij <1 Among them, ρ ij (i=1, 2…m; j=1, 2…n) represents the pseudo density of each unit in the optimization area, m is the number of units in the i direction in the optimization area, n is the number of units in the j direction in the optimization area; R is a set of real numbers; C is the structural flexibility; F is the load vector; U is the displacement vector; K is the structural stiffness matrix; T is the transpose; V is the optimized volume; u ij is the unit displacement vector; k0 is the stiffness matrix of the initial unit; f is the volume fraction ratio; V0 is the initial volume; v ij is the unit volume; p is the penalty coefficient; ρ min To design the lower limit of density, a preset small positive number is taken to prevent the stiffness matrix from being singular during optimization.

10. The mechanism load-bearing and response speed improvement system based on topology optimization technology according to claim 8, characterized in that: In the module M4: The initial configuration and topology optimization configuration of each optimized component in the mechanism are subjected to static analysis according to the actual working conditions of the mechanism, and the maximum Mises equivalent stress F of the initial configuration is obtained. oi , maximum deformation S oi and the maximum Mises equivalent stress F of the topologically optimized configuration ti , maximum deformation S ti , and calculate the static performance weakening ratio K of the topological optimization configuration of each component i ; The specific calculation formula is as follows: In the module M5: Compare the static performance weakening ratio K of the end component of the mechanism n Compared with its weight loss k , when the weight reduction ratio M k Greater than the static performance weakening ratio K n Calculate the load mass m that can be added to the end of the mechanism when a ; The specific calculation formula is as follows: m a =(1-K n )(M k -K n )(m on -m tn ) Among them, m on is the initial configuration mass of the final component; mt n is the topological optimization configuration quality of the end component; n is the nth component in the mechanism, i.e., the end component; When the weight reduction ratio M k Less than or equal to the static performance reduction ratio K i When the load mass m is not increased, the mechanism is considered a ; In the module M6: The optimized configuration of the mechanism is discretized by finite elements, and the static and dynamic performance analysis and verification are performed according to the actual working conditions of the mechanism; when the preset performance requirements are met, the topology optimization design is completed and the next step is entered; when the preset performance requirements are not met, the module returns to module M3, the volume ratio parameters during topology optimization are adjusted, and the optimized configuration of the component is obtained again; When there is a load mass that can be added to the end, the mass is connected to the load installation position of the mechanism in the form of a mass point, and static and dynamic analysis verification is performed; when there is no load mass that can be added to the end, static and dynamic analysis verification is not performed; Among them, the performance requirements are not met when the following conditions occur: When the maximum Mises equivalent stress of each component in the mechanism exceeds its permissible range; when the maximum deformation of each component in the mechanism exceeds its permissible range; when the natural frequency of the mechanism is close to the working frequency; when the natural frequency of the mechanism is close to the preset excitation frequency that may cause resonance; when the natural frequency of the mechanism is close to the natural frequency that has a probability of existing in the working environment; In the module M7: For the mobile motion joints in the mechanism, the response speed is improved to: Among them, r i K is the response speed improvement at the i-th joint; i is the static performance weakening ratio of the i-th component; i is the weight of the mass at the i-th joint to the response speed of the joint; For the rotational motion joints in the mechanism, the response speed is improved to: Among them, K i is the static performance weakening ratio of the i-th component; i is the weight of the moment of inertia at the i-th joint to the response speed of the joint; I oi is the moment of inertia of the current joint of the initial configuration of the i-th component; ti The topological optimization configuration of the i-th component is for the current joint moment of inertia.

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