MUTI-WORKING CONDITIONS TOPOLOGY OPTIMIZATION OF THE KEY STRUCTURE OF THE CLIMBABLE AGV BASED ON LEVEL-SET METHOD

Compared with the traditional Automated Guided Vehicle (AGV), a climbable AGV is capable of moving on the flat ground and climbing vertically with the aid of the track. The mechanical condition of the supporting parts of the climbing AGV can change drastically in different working environments. Therefore, it is critical to optimize the structure of the key parts in a lightweight design. In this paper, the level-set topology optimization was conducted in order to achieve a better structure design of the key body parts. Under this proposal, mechanical analysis of the key body parts was carried out under typical working conditions. Various working conditions are taken into account during the optimization process through introducing weight coefficients computed by analytic hierarchy process (AHP) method. And the casting constraint was added to improve the manufacturability of the optimization result. Then the topology optimization model under multi-working conditions was established based on the level-set method. And the optimization result with a clear boundary was obtained. Finally, the optimization result was analyzed with the finite element method. Compared with the initial structure, the weight of the optimized structure is greatly reduced by 42.64% in the testing case while the mechanical properties of the optimized structure still meet the design demands. The same method can be extended to optimize other parts to reduce the total weight of the climbable AGV.