【摘要】 节点作为油气勘探中数据采集的关键设备，人工布收的工作强度大、重复性高；机械臂具有长时间持续工作等优点，可代替人工布收节点，提高其布收效率；但机械臂结构刚度低、响应速度慢。因此，对机械臂进行了结构优化及轻量化设计，以提高其结构刚性及运动能力。基于旋量理论，建立了节点布收机械臂正运动学方程，以作业区域为约束条件，提出了综合考虑节点布收机械臂的静刚度全域指标和任务方向的速度综合全域指标，建立了节点布收机械臂尺寸优化数学模型；利用多目标粒子群算法，结合变密度法对节点布收机械臂大臂进行了尺寸优化及轻量化设计。结果表明，结构尺寸优化后，节点布收机械臂的静刚度全域指标提升了19.8%，任务方向的速度综合性能提升了8.8%，显著提高了机械臂的刚度及运动能力；大臂轻量化设计后质量降低了14.7%，有利于提高响应速度的运动能力。研究结果对提高油气勘探的准确性和效率具有重要意义。更多还原

【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 improve 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 variable 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 reduces the mass by 14.7%, which is beneficial to improve the response speed of the movement ability. The research results are of great significance for improving the accuracy and efficiency of oil and gas exploration.更多还原