Structural optimization of a pipe-climbing robot based on ANSYS

摘要

Abstract. In order to improve the structural performance of the out-of-pipe pipe-climbing robot, the out-of-pipe pipe-climbing robot is optimized. First, MATLAB software was used to optimize the structure and size of the robot according to the mathematical model of robot mechanics and size constraints. Then, SolidWorks software was used to establish a three-dimensional model of the robot which was then imported into ANSYS Workbench software. Static and modal analyses were then performed on key robot components under different working conditions and the topology optimization module in ANSYS Workbench was used to perform the topology optimization of the key components. Finally, the optimized components were statically analysed. By comparing the performance of the components before and after optimization, it was found the weights of the optimized frame and clamping arm were respectively reduced by 24 % and 20 %, and the maximum stress was respectively reduced by 46 % and 20 %. Ultimately, it was found that the stiffness and strength of the robot were improved and a lighter weight was achieved via optimization; thus, this work provides a reference for future research on pipe-climbing robots.