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Title:: Finite element analysis and structural optimization of surgical robotic arm

作者:: 吕钦靖1; 2; 张勤河1; 2△; 石明阳1; 2; 蔡晨需1; 2; 高明昊1; 2; （1.山东大学机械工程学院，济南250000；2.山东大学机械工程学院高效洁净机械制造教育部重点实验室机械工程国家级实验教学示范中心，济南250000）

Author(s):: Lü Qinjing1; 2; ZHANG Qinhe1; 2; SHI Mingyang1; 2; CAI Chenxu1; 2; GAO Minghao1; 2; （1.School of Mechanical Engineering,Shandong University,Jinan 250000,China;2.Key Laboratory of Efficient and Clean Machinery Manufacturing of Ministry of Education,National Demonstration Center for Experimental Mechanical Engineering Education,School of Mechanical Engineering,Shandong University,Jinan 250000）

Keywords:: Surgical mechanisms; Finite element method; Static analysis; Modal shape; Simple harmonic excitation; Lightweight design

摘要:: 为提高手术机器人机械臂的刚度，降低结构性颤动，本研究根据其结构特点构建仿真三维模型，并通过有限元分析软件Abaqus对机械臂进行静力学分析，评估其刚度与强度的可靠性；然后，对机械臂进行模态分析和谐响应分析，评估其动态响应；最后，对机械臂的结构进行拓扑优化设计。实验结果显示，优化后的机械臂质量、位移分别减少了6.26%和6.05%，应力降低了7.61%。结果表明，该设计有效提高了机械臂的刚度和动力性能。

Abstract:: According to the structural characteristics of the surgical robotic arm, a simulated model was constructed to improve the stiffness of the surgical robot robotic arm and reduce structural flutter. The static analysis of the manipulator arm was carried out through the finite element analysis software Abaqus to evaluate its reliability of stiffness and strength. The modal analysis and harmonious response analysis were carried out to evaluate the dynamic response of the manipulator. Finally, the topology optimization design of the robotic arm structure was carried out. The mass and displacement of the optimized manipulator arm were reduced by 6.26% and 6.05%, respectively, and the stress was reduced by 7.61%. The results show that the design can effectively improve the stiffness and dynamic performance of the manipulator.