Design of Surgical machine manipulator based on TOPOLOGY OPTIMIZATION method

摘要

Because of the high efficiency and precision, the mechanical arm is widely used in industrial production, medical devices, aerospace and other fields. Especially after the introduction of precision medicine, the medical robot arm has become a research hotspot. In this paper, the topology optimization idea is proposed as the design method of light-weight upper arm, which is part of the lab first generation robotic arm of surgical. Firstly, the statics and modal frequency of the upper arm are analyzed. Then, the method of topology optimization is used to optimize it. Finally, the arm structure is modified according to the topology optimization results. Comparing the existing structure and the optimized structure, the results show that the optimized model in design is efficient, such as its weight reduction is about 35%, its structural stiffness is enhanced, and its first model frequency goes up from 51.16 Hz to 59.13 Hz.