Optimization Design of Node Placement Manipulators Based on Working Area and Response Speed
Huang Zhiqiang
Duan Yuxing
Song Xiaowei
Wang Jie
Fu Mingwei
Sun Haoxiang
Li Gang
Abstract：As the key equipment of data acquisition in oil and gas exploration,the node can be replaced by a mechanical arm because of its long-term continuous work and high efficiency,but the structure rigidity is weak and the motion ability is poor,so the structure optimization and lightweight design are carried out to im-prove the structure rigidity and motion ability.Based on the screw theory,the forward kinematics equation of the manipulator with node placement is established,the global static stiffness index and the global velocity index considering the direction of the task are proposed,and the mathematical model of the size optimization of the node-placing manipulator is established.Based on the multi-objective particle swarm algorithm and the vari-able density method,the size optimization and lightweight design of the node-distributed manipulator arm are carried out.The results show that the overall static stiffness index and the overall velocity performance in the mission direction are improved by 19.8％and 8.8％respectively,and the lightweight design of the upper arm re-duces the mass by 14.7％,which is beneficial to improve the response speed of the movement ability.The re-search results are of great significance for improving the accuracy and efficiency of oil and gas exploration.
Keywords：Robotic armNodePerformance index analysisSize optimizationMulti-objective par-ticle swarm algorithmLightweight design
Publication Date：2024-01-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 67-74 )