Optimization Design Method for Vibration Reduction of Frame Structure of Cable-Driven Parallel Robot

Abstract

This paper proposes a comprehensive optimization algorithm for the crossbeam cross-section size to solve the vibration problem of the flexible cable-driven parallel robot frame. The goal is to achieve an innovative design of the cross-sectional structure. By using a differential evolution algorithm, a comprehensive scale analysis of the cross-section size of the beam is carried out. This optimization method effectively improves the cross-section moment of inertia and the bending stiffness of the beam. Additionally, based on the variable density penalty method, the topological optimization design of the cross-section is carried out under the condition of minimum flexibility, the optimization objective function is established, and the objective function is solved by the moving asymptote method. The optimization results show that the beam stiffness is maximized while meeting the minimum flexibility required by the project. Through comparative analysis with various aluminum profile structures and their constructed frames, it is verified that the cross-sectional shape obtained through the optimized design method can significantly improve the anti-vibration stability of the frame.