Topology optimization design of the main structure of 6-DOF manipulator based on the variable density method

In order to solve the problems of too large mass, too complex structure and poor flexibility of the 6-DOF manipulator, the topological optimization theory based on variable density method is applied to the 6-DOF manipulator, the topology optimization of the main structural components of the manipulator is carried out with the help of the finite element software ANSYS, and the optimized structure is simplified according to the density distribution of the units and the requirements of manufacturability, the results are compared and analysed by static mechanics. It shows that the whole mass of the 6-DOF manipulator is reduced by 47.23% without changing the original mechanical properties after topological optimization, and the optimized model can meet the requirements of manufacturability, the optimization effect is significant, which can be used as a reference for the structure optimization of the 6-DOF manipulator.