CN117195666B - Part lightweight manufacturing method and system based on SLM technology - Google Patents
Part lightweight manufacturing method and system based on SLM technology Download PDFInfo
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- 238000005516 engineering process Methods 0.000 title claims abstract description 33
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 31
- 238000004458 analytical method Methods 0.000 claims abstract description 61
- 239000000463 material Substances 0.000 claims abstract description 59
- 238000005457 optimization Methods 0.000 claims abstract description 57
- 238000000034 method Methods 0.000 claims abstract description 25
- 238000007639 printing Methods 0.000 claims abstract description 25
- 238000002360 preparation method Methods 0.000 claims abstract description 15
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 14
- 241000239226 Scorpiones Species 0.000 claims abstract description 12
- 239000011159 matrix material Substances 0.000 claims description 31
- 238000006073 displacement reaction Methods 0.000 claims description 24
- 238000013461 design Methods 0.000 claims description 13
- 239000000956 alloy Substances 0.000 claims description 11
- 239000000843 powder Substances 0.000 claims description 10
- 230000007480 spreading Effects 0.000 claims description 9
- 238000003892 spreading Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 229910003407 AlSi10Mg Inorganic materials 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 6
- 229910045601 alloy Inorganic materials 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 4
- 239000010410 layer Substances 0.000 claims description 4
- 238000002474 experimental method Methods 0.000 claims description 3
- 239000011229 interlayer Substances 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 230000008021 deposition Effects 0.000 claims 1
- 238000012795 verification Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
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- 238000005260 corrosion Methods 0.000 description 2
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- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
Abstract
The invention provides a part lightweight manufacturing method and system based on an SLM technology, wherein the method comprises the following steps: establishing a first three-dimensional model based on the part parameters; selecting a preparation material of the first three-dimensional model; performing finite element analysis on the first three-dimensional model, and performing light topological optimization on the first three-dimensional model based on the optimization model; carrying out re-modeling on the first three-dimensional model after topology optimization is completed to obtain a second three-dimensional model; and carrying out finite element analysis on the second three-dimensional model to obtain a target three-dimensional model meeting preset conditions, and printing and forming the part based on an SLM technology. The three-dimensional model is built, materials are selected and finite element analysis is carried out, the topological optimization method is used for carrying out topological optimization and re-modeling on parts, and comparison, slicing, printing and physical verification are carried out, so that the clamp device of the bionic scorpion deformation robot is light in weight, and the clamp device with light weight, high precision, high material utilization rate and excellent mechanical property is obtained.
Description
Technical Field
The invention relates to the technical field of additive manufacturing, in particular to a part lightweight manufacturing method and system based on an SLM technology.
Background
SLM technology is a novel rapid prototyping technology that emerged in the 90 s of the 20 th century. Is different from the material reduction manufacture and the equal material manufacture in the traditional processing technology forming process. SLM technology has the following advantages: free design, unlimited, high efficiency, uniform material performance, fine grains, excellent mechanical property, high density components, no defect and improved powder utilization rate.
Topology optimization is an advanced design method, and a topological structure is difficult to realize in traditional manufacturing. Especially, the topological optimization structure can be better realized under the advantages of free design, unlimited and the like of the SLM technology, wherein the structure has small holes or boundary cracks which are difficult to manufacture, single hinge connection and the like.
The bionic robot is a robot for simulating biology and working with biological characteristics, and the bionic scorpion deformation robot is a robot manufactured based on the principle of the bionic robot. The clamp part of the bionic scorpion deformation robot finishes various operations such as grabbing, and the clamp part of the bionic robot is used for achieving operations such as grabbing and carrying of a target object.
In the prior art, parts of the jaw of a bionic scorpion deformation robot, for example, have large mass, so that the robot can be challenged when grabbing heavy objects. In manufacturing parts using SLM, how to reduce weight without changing usability and improve material utilization becomes a new challenge.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a part lightweight manufacturing method and system based on an SLM technology, and aims to manufacture parts with light weight, high precision, high material utilization rate and excellent mechanical properties.
In order to achieve the above object, the present invention is achieved by the following technical scheme: a part lightweight manufacturing method based on SLM technology comprises the following steps:
establishing a first three-dimensional model based on the part parameters;
selecting a preparation material of the first three-dimensional model, wherein the preparation material comprises an alloy material composed of a plurality of elements;
finite element analysis is carried out on the first three-dimensional model, finite element analysis is carried out on the first three-dimensional model based on the following optimization model, and light topology optimization is carried out on the first three-dimensional model based on the following optimization model:
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in the method, in the process of the invention,u and F are respectively an integral displacement vector and a force vector, the superscript T is a transposed symbol in a transposed matrix, K is an integral stiffness matrix, and the U and F are respectively the flexibility of unit materials>Is the unit displacement vector, ">Is a unit displacement vector, x is a vector of unit density, and N is a vector for discretizationDesigning the number of units of a domain +.>And->The material volume and the design domain volume, respectively, f is the volume fraction, +.>（/>) Young's modulus, ->The density value is corresponding to the unit element material;
carrying out re-modeling on the first three-dimensional model after topology optimization is completed to obtain a second three-dimensional model;
and carrying out finite element analysis on the second three-dimensional model to obtain a target three-dimensional model meeting preset conditions, and printing and forming the part based on an SLM technology.
According to an aspect of the above technical solution, the step of performing finite element analysis on the second three-dimensional model to obtain a target three-dimensional model meeting a preset condition, and printing and forming the part based on the SLM technology specifically includes:
performing finite element analysis on the second three-dimensional model, and judging whether analysis data accords with preset conditions or not;
if the analysis data accords with the preset conditions, the second three-dimensional model is imported into slicing software, parts are repaired, sliced and supported, and the parts are printed and molded by adopting an SLM technology based on preset printing parameters.
According to an aspect of the foregoing technical solution, after the step of determining whether the data meets the preset condition, the method further includes:
and if the analysis data do not meet the preset conditions, carrying out light topology optimization on the second three-dimensional model based on the optimization model until a target three-dimensional model meeting the preset conditions is obtained.
According to an aspect of the foregoing technical solution, the calculation formula of the young modulus of the density value corresponding to the unit element material is:
；
wherein E is 0 For the stiffness of the material,and a small cavity area is distributed for rigidity, and p is a penalty factor.
According to an aspect of the foregoing technical solution, the step of performing finite element analysis on the first three-dimensional model specifically includes:
the structural response of the part under a fixed load was analyzed based on the following kinetic equation:
；
in the formula, [ M ]]Is a system quality matrix [ C ]]Is a system damping matrix [ K ]]Is a system stiffness matrix; f is an external force, and is a force,、/>and u represents system acceleration, velocity, and displacement, respectively.
According to an aspect of the foregoing technical solution, the preset printing parameters include laser power, scanning speed, scanning path, spot diameter, powder spreading thickness, laser scanning interval, and energy density, where the energy density has a formula:
；
wherein Z is laser power, V is laser scanning speed,and d is the laser scanning interval, and d is the thickness of the powder spreading layer.
On the other hand, the invention also provides a part lightweight manufacturing system based on the SLM technology, which comprises the following steps:
the modeling module is used for establishing a first three-dimensional model based on the part parameters;
the material selecting module is used for selecting a preparation material for the first three-dimensional model, wherein the preparation material comprises an alloy material composed of a plurality of elements;
the optimization module is used for carrying out finite element analysis on the first three-dimensional model, carrying out finite element analysis on the first three-dimensional model based on the following optimization model, and carrying out light topology optimization on the first three-dimensional model based on the following optimization model:
；
；
；
；
in the method, in the process of the invention,u and F are respectively an integral displacement vector and a force vector, the superscript T is a transposed symbol in a transposed matrix, K is an integral stiffness matrix, and the U and F are respectively the flexibility of unit materials>Is the unit displacement vector, ">Is a unit displacement vector, x is a vector of unit density, and N is a vector for discretizationDesigning the number of units of a domain +.>And->The material volume and the design domain volume, respectively, f is the volume fraction, +.>（/>) Young's modulus, ->The density value is corresponding to the unit element material;
the reconstruction module is used for carrying out reconstruction modeling on the first three-dimensional model after topology optimization is completed to obtain a second three-dimensional model;
the target module is used for carrying out finite element analysis on the second three-dimensional model so as to obtain a target three-dimensional model which accords with preset conditions;
and the manufacturing module is used for carrying out finite element analysis on the second three-dimensional model to obtain a target three-dimensional model meeting preset conditions, and printing and forming the part based on an SLM technology.
According to an aspect of the foregoing technical solution, the manufacturing module specifically includes:
the analysis unit is used for carrying out finite element analysis on the second three-dimensional model and judging whether analysis data accords with preset conditions or not;
and the output unit is used for importing the second three-dimensional model into slicing software, repairing, slicing and adding support to the parts if the analysis data meet the preset conditions, and printing and forming the parts by adopting an SLM technology based on the preset printing parameters.
According to an aspect of the foregoing technical solution, the optimization module further includes:
and the optimization unit is used for carrying out light topology optimization on the second three-dimensional model based on the optimization model if the analysis data do not meet the preset condition until a target three-dimensional model meeting the preset condition is obtained.
According to an aspect of the foregoing technical solution, the optimization module is specifically configured to:
the structural response of the part under a fixed load was analyzed based on the following kinetic equation:
；
in the formula, [ M ]]Is a system quality matrix [ C ]]Is a system damping matrix [ K ]]Is a system stiffness matrix; f is an external force, and is a force,、/>and u represents system acceleration, velocity, and displacement, respectively.
Compared with the prior art, the invention has the beneficial effects that: the three-dimensional model is built, materials are selected and finite element analysis is carried out, the topological optimization method is used for carrying out topological optimization and re-modeling on parts, and comparison, slicing, printing and physical verification are carried out, so that the clamp device of the bionic scorpion deformation robot is light in weight, and the clamp device with light weight, high precision, high material utilization rate and excellent mechanical property is obtained.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flow chart of a method for manufacturing a lightweight part based on SLM technology according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a clamping device of a bionic scorpion deformation robot in a first embodiment of the invention;
FIG. 3 is a schematic view of a conventional hook according to a first embodiment of the present invention;
FIG. 4 is a physical diagram of the optimized hooking jaw according to the first embodiment of the present invention;
the invention will be further described in the following detailed description in conjunction with the above-described figures.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Various embodiments of the invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, a light-weight manufacturing method for parts based on SLM technology in a first embodiment of the invention is shown. Conveniently, the present embodiment is based on the optimized manufacturing of the clamping jaw of the clamping device of the bionic scorpion deformation robot.
As can be easily understood, as shown in fig. 2, a schematic diagram of a conventional bionic scorpion deformation robot clamp device is shown, and as can be seen from the above diagram, the bionic scorpion deformation robot clamp device mainly controls the clamping function of a clamp through a steering engine, realizes motion with multiple degrees of freedom through a plurality of steering engines, and realizes fixation with a main body through a tail base. The weight can be reduced by optimizing the jaws.
As shown in fig. 1, the method comprises the steps of:
step S100, a first three-dimensional model is built based on the part parameters. Specifically, in the present embodiment, the above-described part parameters are conventional jaw shape dimension parameters and the like.
Step S200, selecting a preparation material for the first three-dimensional model, where the preparation material includes an alloy material composed of a plurality of elements. Specifically, in the present embodiment, the material of the jaw is selected to be AlSi10Mg. In the SLM material selection, more alloy materials such as iron-based, aluminum-based, nickel-based, cobalt-based, titanium-based and the like are selected. But the AlSi10Mg alloy has the excellent comprehensive properties of small density, high strength, better corrosion resistance, fluidity, heat crack resistance, no stress corrosion cracking tendency and the like. Meanwhile, the good manufacturability and weldability, the better toughness and cutting performance of the AlSi10Mg alloy are necessary factors for the good processability and the reasons for the use of the invention. The following table 1 shows the contents of the elemental materials in AlSi10 Mg:
table 1;
table 2 below shows AlSi10Mg particle physical phenomenon parameters:
table 2;
step S300, performing finite element analysis on the first three-dimensional model based on the following optimization model, and performing light topology optimization on the first three-dimensional model based on the following optimization model:
；
；
；
；
in the method, in the process of the invention,u and F are respectively an integral displacement vector and a force vector, the superscript T is a transposed symbol in a transposed matrix, K is an integral stiffness matrix, and the U and F are respectively the flexibility of unit materials>Is the unit displacement vector, ">Is a cell displacement vector, x is a vector of cell density, N is the number of cells for discrete design domain, < >>And->The material volume and the design domain volume, respectively, f is the volume fraction, +.>（/>) Young's modulus, ->The density value is corresponding to the unit element material.
Specifically, in this embodiment, the first three-dimensional model is imported into simulation software for finite element analysis, the structural response under the action of a fixed load is mainly analyzed, deformation, strain and stress equivalent change conditions of an analysis object under the action of external force are observed, and the simulation software adopts ansys. The kinetic equation of the system is:
；
in the formula, [ M ]]Is a system quality matrix [ C ]]Is a system damping matrix [ K ]]Is a system stiffness matrix; f is an external force, and is a force,、/>and u represents system acceleration, velocity, and displacement, respectively.
Further, in the present embodiment, the topology optimization follows that each element e is assigned a densityDetermine its Young's modulus->The calculation formula of Young's modulus of the density value corresponding to the unit element material is as follows:
；
wherein E is 0 For the stiffness of the material,and a small cavity area is distributed for rigidity, and p is a penalty factor. Above-mentionedIs a very small void area of stiffness distribution to prevent the stiffness matrix from becoming singular, p is a penalty factor (typically p=3) that is introduced to ensure black and white solution, and by imposing a slightly greater lower limit on density x than zero, a cell of zero stiffness is avoided.
Step S400, performing re-modeling on the first three-dimensional model after topology optimization is completed, and obtaining a second three-dimensional model.
And S500, performing finite element analysis on the second three-dimensional model to obtain a target three-dimensional model meeting preset conditions, and printing and forming the part based on an SLM technology.
Specifically, in this embodiment, the step S500 specifically includes:
and S510, carrying out finite element analysis on the second three-dimensional model, and judging whether the analysis data meets preset conditions. Specifically, in the present embodiment, the step of performing finite element analysis on the second three-dimensional model is the same as the analysis method in the step S300.
And step S520, if the analysis data meets the preset conditions, importing the second three-dimensional model into slicing software, repairing, slicing and adding support to the parts, and printing and forming the parts by adopting an SLM technology based on preset printing parameters. Specifically, in this embodiment, if the analysis data meets the preset condition, the second three-dimensional model is exported in the STL file format, and the slicing software Materialise Magics is imported to repair, slice and add support to the part. And setting parameters of the SLM, wherein the main parameters are laser power, scanning speed, scanning path, light spot diameter, powder spreading thickness, laser scanning interval and energy density. Wherein the energy density (E) can be calculated from the energy density by:
；
wherein Z is laser power, V is laser scanning speed,and d is the laser scanning interval, and d is the thickness of the powder spreading layer. The preset conditions include the data obtained by carrying out statics analysis by ansys, including deformation, strain and stress equivalent change under the action of external force, and the values and the set allowable stress and constraint strain are judged and must not exceed the two conditions, because the allowable stress of different materials and different structural members are not the same, the values are not unique and can be matched with the allowable stress of different materialsIs adjusted in accordance with the percentage of constraint that is required to be adjusted.
Further, the SLM forming parameters set above are specifically: the laser power is 200W, the scanning speed is 200m/s, the powder spreading thickness is 0.03mm, the laser scanning interval is 0.05mm, the scanning path is short straight interlayer alternate scanning phase angle 67 degrees, and the spot diameter is 0.06mm.
And step S530, if the analysis data does not meet the preset condition, performing light topology optimization on the second three-dimensional model based on the optimization model until a target three-dimensional model meeting the preset condition is obtained. Specifically, if the analysis data does not meet the preset condition, the process goes to the step S300 to perform the secondary lightweight topology optimization until a model meeting the preset condition is obtained, and then the operation of the step S520 is performed to perform the print manufacturing.
Preferably, in this embodiment, after completing the above-mentioned print manufacturing, the method further includes:
and step S600, removing the support, polishing and sand blasting from the printed part to make the solid surface flat and smooth. As shown in fig. 4, a physical diagram of the formed clamping jaw is prepared.
And step S700, performing quality detection and mechanical test on the finished part. Specific experiments were Rockwell hardness, tensile Strength and elongation at break. Specifically, table 3 below is the detailed data for the test:
table 3;
in summary, the part lightweight manufacturing method based on the SLM technology in the above embodiment of the present invention performs topology optimization and re-modeling on the part in parallel by establishing a three-dimensional model, selecting materials and performing finite element analysis, and performs contrast, slicing, printing and physical verification on the part, so as to implement lightweight of the bionic scorpion deformation robot clamp device, obtain a clamp device with light weight, high precision, high material utilization rate and excellent mechanical properties, and fill the gap of the clamp based on SLM lightweight in the current market.
Example two
A second embodiment of the present invention provides a lightweight fabrication system for parts based on SLM technology, comprising:
the modeling module is used for establishing a first three-dimensional model based on the part parameters;
the material selecting module is used for selecting a preparation material for the first three-dimensional model, wherein the preparation material comprises an alloy material composed of a plurality of elements;
the optimization module is used for carrying out finite element analysis on the first three-dimensional model, carrying out finite element analysis on the first three-dimensional model based on the following optimization model, and carrying out light topology optimization on the first three-dimensional model based on the following optimization model:
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in the method, in the process of the invention,u and F are respectively an integral displacement vector and a force vector, the superscript T is a transposed symbol in a transposed matrix, K is an integral stiffness matrix, and the U and F are respectively the flexibility of unit materials>Is the unit displacement vector, ">Is a cell displacement vector, x is a vector of cell density, N is the number of cells for discrete design domain, < >>And->The material volume and the design domain volume, respectively, f is the volume fraction, +.>（/>) Young's modulus, ->The density value is corresponding to the unit element material;
the reconstruction module is used for carrying out reconstruction modeling on the first three-dimensional model after topology optimization is completed to obtain a second three-dimensional model;
the target module is used for carrying out finite element analysis on the second three-dimensional model so as to obtain a target three-dimensional model which accords with preset conditions;
and the manufacturing module is used for carrying out finite element analysis on the second three-dimensional model to obtain a target three-dimensional model meeting preset conditions, and printing and forming the part based on an SLM technology.
Preferably, in this embodiment, the manufacturing module specifically includes:
the analysis unit is used for carrying out finite element analysis on the second three-dimensional model and judging whether analysis data accords with preset conditions or not;
and the output unit is used for importing the second three-dimensional model into slicing software, repairing, slicing and adding support to the parts if the analysis data meet the preset conditions, and printing and forming the parts by adopting an SLM technology based on the preset printing parameters.
Preferably, in this embodiment, the optimizing module further includes:
and the optimization unit is used for carrying out light topology optimization on the second three-dimensional model based on the optimization model if the analysis data do not meet the preset condition until a target three-dimensional model meeting the preset condition is obtained.
Preferably, in this embodiment, the optimization module is specifically configured to:
the structural response of the part under a fixed load was analyzed based on the following kinetic equation:
；
in the formula, [ M ]]Is a system quality matrix [ C ]]Is a system damping matrix [ K ]]Is a system stiffness matrix; f is an external force, and is a force,、/>and u represents system acceleration, velocity, and displacement, respectively.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that various modifications and improvements can be made by those skilled in the art without departing from the spirit of the invention, which falls within the scope of the present invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (2)
1. A method for lightweight fabrication of parts based on SLM technology, characterized in that it is used for optimized fabrication of the jaws of a clamping device of a biomimetic scorpion deformation robot, said method comprising the steps of:
establishing a first three-dimensional model based on the part parameters;
selecting a preparation material of the first three-dimensional model, wherein the preparation material comprises an alloy material composed of a plurality of elements, and the preparation material is an AlSi10Mg alloy;
performing finite element analysis on the first three-dimensional model, and performing light topological optimization on the first three-dimensional model based on the following optimization model:
；
；
；
；
in the method, in the process of the invention,u and F are respectively an integral displacement vector and a force vector, the superscript T is a transposed symbol in a transposed matrix, K is an integral stiffness matrix, and the U and F are respectively the flexibility of unit materials>Is the unit displacement vector, ">Is a cell displacement vector, x is a vector of cell density, N is the number of cells for discrete design domain, < >>And->The material volume and the design domain volume, respectively, f is the volume fraction, +.>（/>) Young's modulus, ->The Young modulus of the density value corresponding to the unit element material is calculated as follows:
；
wherein E0 is the stiffness of the material,a small cavity area distributed for rigidity, wherein p is a penalty factor;
the step of performing finite element analysis on the first three-dimensional model specifically includes:
the structural response of the part under a fixed load was analyzed based on the following kinetic equation:
；
in the formula, [ M ]]Is a system quality matrix [ C ]]Is a system damping matrix [ K ]]Is a system stiffness matrix; f is an external force, and is a force,、/>and u represents system acceleration, speed and displacement, respectively;
carrying out re-modeling on the first three-dimensional model after topology optimization is completed to obtain a second three-dimensional model;
performing finite element analysis on the second three-dimensional model to obtain a target three-dimensional model meeting preset conditions, and printing and forming the part based on an SLM (selective laser deposition) technology;
the step of performing finite element analysis on the second three-dimensional model to obtain a target three-dimensional model meeting preset conditions and printing and forming the part based on the SLM technology specifically comprises the following steps:
performing finite element analysis on the second three-dimensional model, and judging whether analysis data accords with preset conditions or not;
after the step of judging whether the data meets the preset condition, the method further comprises the following steps:
if the analysis data do not meet the preset conditions, carrying out light topology optimization on the second three-dimensional model based on the optimization model until a target three-dimensional model meeting the preset conditions is obtained;
if the analysis data accords with the preset conditions, importing the second three-dimensional model into slicing software, repairing, slicing and adding support to the parts, and printing and forming the parts by adopting an SLM technology based on preset printing parameters obtained by an SLM orthogonal experiment;
the preset printing parameters are specifically as follows: the laser power is 200W, the scanning speed is 200m/s, the powder spreading thickness is 0.03mm, the laser scanning interval is 0.05mm, the scanning path is a short straight interlayer alternate scanning phase angle 67 degrees, the spot diameter is 0.06mm, and the energy density has the following calculation formula:
；
wherein Z is laser power, V is laser scanning speed,and d is the laser scanning interval, and d is the thickness of the powder spreading layer.
2. A lightweight part manufacturing system based on SLM technology for optimized manufacturing of the jaws of a clamping device of a bionic scorpion deformation robot, the system comprising:
the modeling module is used for establishing a first three-dimensional model based on the part parameters;
the material selecting module is used for selecting a preparation material of the first three-dimensional model, wherein the preparation material comprises an alloy material composed of a plurality of elements, and the preparation material is an AlSi10Mg alloy;
the optimization module is used for carrying out finite element analysis on the first three-dimensional model and carrying out light topological optimization on the first three-dimensional model based on the following optimization model:
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；
；
；
in the method, in the process of the invention,u and F are respectively an integral displacement vector and a force vector, the superscript T is a transposed symbol in a transposed matrix, K is an integral stiffness matrix, and the U and F are respectively the flexibility of unit materials>Is the unit displacement vector, ">Is a cell displacement vector, x is a vector of cell density, N is the number of cells for discrete design domain, < >>And->The material volume and the design domain volume, respectively, f is the volume fraction, +.>（/>) Young's modulus, ->The Young modulus of the density value corresponding to the unit element material is calculated as follows:
；
wherein E0 is the stiffness of the material,a small cavity area distributed for rigidity, wherein p is a penalty factor;
the optimization module is specifically used for:
the structural response of the part under a fixed load was analyzed based on the following kinetic equation:
；
in the formula, [ M ]]Is a system quality matrix [ C ]]Is a system damping matrix [ K ]]Is a system stiffness matrix; f is an external force, and is a force,、/>and u represents system acceleration, speed and displacement, respectively;
the optimization module further comprises:
the optimization unit is used for carrying out light topology optimization on the second three-dimensional model based on the optimization model if the analysis data do not meet the preset conditions until a target three-dimensional model meeting the preset conditions is obtained;
the reconstruction module is used for carrying out reconstruction modeling on the first three-dimensional model after topology optimization is completed to obtain a second three-dimensional model;
the target module is used for carrying out finite element analysis on the second three-dimensional model so as to obtain a target three-dimensional model which accords with preset conditions;
the manufacturing module performs finite element analysis on the second three-dimensional model to obtain a target three-dimensional model meeting preset conditions, prints and forms the part based on an SLM technology,
wherein, the manufacturing module specifically includes:
the analysis unit is used for carrying out finite element analysis on the second three-dimensional model and judging whether analysis data accords with preset conditions or not;
the output unit is used for importing the second three-dimensional model into slicing software, repairing, slicing and adding support to the parts if the analysis data meet preset conditions, and printing and forming the parts by adopting an SLM technology based on preset printing parameters obtained by an SLM orthogonal experiment;
the parameter printing parameters are specifically as follows: the laser power is 200W, the scanning speed is 200m/s, the powder spreading thickness is 0.03mm, the laser scanning interval is 0.05mm, the scanning path is a short straight interlayer alternate scanning phase angle 67 degrees, the spot diameter is 0.06mm, and the energy density has the following calculation formula:
；
wherein Z is laser power, V is laser scanning speed,and d is the laser scanning interval, and d is the thickness of the powder spreading layer.
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