六自由度机器人结构设计及关键件有限元分析
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摘要
文章介绍了50 kg六自由度机器人的设计方法,包括机器人构型方式、各轴机构传动方式以及电机、减速机的选型。创建了三维模型,利用Ansys WorkBench建立了腰部与大臂有限元模型,分析了危险工况下的应力、形变等性能,确保铸件结构符合设计刚度。该机器人本体结构设计合理,动力传递可靠,关键件强度、刚度满足使用要求,整机设计达到了最终的设计目标。
This paper introduced the design method of 50 kg six-degree-of-freedom robot, including robot configuration mode, transmission mechanism of each shaft and the selections of motor and reducer. A 3 d model was created and a finite element model of waist and big arm components under dangerous working conditions were established by using Ansys WorkBench to analyze the stress, deformation and other properties. This work ensured the casting structure conform to the design stiffness. The design of the robot body structure was reasonable, the power transmission was reliable, and the strength and stiffness of the key components conformed to the using requirements. In a word, the whole machine design had reached the final design goal.
This paper introduced the design method of 50 kg six-degree-of-freedom robot, including robot configuration mode, transmission mechanism of each shaft and the selections of motor and reducer. A 3 d model was created and a finite element model of waist and big arm components under dangerous working conditions were established by using Ansys WorkBench to analyze the stress, deformation and other properties. This work ensured the casting structure conform to the design stiffness. The design of the robot body structure was reasonable, the power transmission was reliable, and the strength and stiffness of the key components conformed to the using requirements. In a word, the whole machine design had reached the final design goal.
引文
[1]李瑞峰.工业机器人设计与应用[M].哈尔滨:哈尔滨工业大学出版社,2017.
[2]李宪华,疏杨,张雷刚,等.六自由度模块化机械臂有限元分析及优化[J].中国工程机械学报,2017(15):107-112.
[3]王占军,赵玉刚,刘新玉,等.码垛机器人结构设计与模态分析[J].机械设计与制造,2014(8):164-166.
[4]程丽,刘玉旺,骆海涛,等.165kg焊接机器人有限元模态分析[J].机械设计与制造,2012(1):147-149.
[5]陈成,六自由度工业机器人虚拟设计及仿真分析[D].南京:南京信息工程大学,2013.
[6]陈祝权,梁晓合,林粤科,等.六自由度串联机器人结构设计及有限元分析优化[J].机床与液压,2013(41):97-101.
[7]高晓飞,李春书,齐立哲,等.6R轻量化关节机器人的静刚度建模及分析[J].河北工业大学学报,2017(46):29-34.
[8]费仁元,张慧慧.机器人机械设计和分析[M].北京工业大学出版社,1998.
[9]孙龙飞,房立金.机械手臂结构设计与性能分析[J].农业机械学报,2017(48):402-410.
[10]蔡自兴,谢斌.机器人学[M].北京:清华大学出版社,2015.
[11]丁学恭.机器人控制研究[M].杭州:浙江大学出版社,2006.
[12]丁佳洛,战强.基于ADAMS的串联机器人运动学反解与动力学优化[J].机电产品开发与创新,2008(21):9-11.
[13]李增刚.ADAMS入门详解与实例[M].北京:国防工业出版社,2014.
[14]Kim P.Rigid Body Dynamics for Beginners:Euler Angles&Quaternion[M].Charleston,South Carolina,USA:Create Space,2014
[15]陈立平,张云清,任卫群,等.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社,2004.
[16]邵忍平.机械系统动力学[M].北京:机械工业出版社,2017.
[17]Dasari A,Reddy N S.Forward and inverse kinematics of a robotic frog[M].Intelligent Human Computer Interaction,2012:1-5.
[18]张立栋,李亮玉,王天琪.工业机器人逆解问题的旋量解法[J].机械科学与技术,2016,35(04):539-544
[19]Husty M L,Pfumer M.A new and efficient algorithm for the inverse kinematics of a general serial 6R-manipulator[J].Mechanism and Machine Theory,2007,42(0 1):66-81.
[20]余晓流,刘进福.基于ADAMS的六自由度焊接机器人运动学分析及仿真[J].安徽工业大学学报,2012(1):49-53.
[21]陈鲁刚,平雪良,徐稀文,等.基于ADAMS的焊接机器人轨迹规划[J].江南大学学报,2011(02).
[12]白丽平,解生冕.点焊机器人模型的动力学仿真分析机电工程技术[J].机电工程技术,2007(36):49-52.
[23]朱建文,周波,孟正大.基于Adams的150kg机器人运动学分析及仿真[J].工业控制计算机,2017(30):82-87.
[24]王梦.多自由度串联机器人运动学分析与仿真[D].北京:北京理工大学,2016.
[25]陈峰华.ADAMS 2012虚拟样机技术从入门到精通[M].北京:清华大学出版社,2013.
[26]邱宁佳,隋振,李明哲,等.六自由度机器人空间划线轨迹规划算法[J].吉林大学学报:工学版,2013,43(05):1307-1313.
[20]刘松国,朱世强,王宣银.基于矩阵分解的一般6R机器人实时高精度逆运动学算法[J].机械工程学报,2008,44(11):304-309.
[27]Luo H T,Chen Z C,Wang H G.Rigid-Flexible Coupling Dynamics Simulation of 3-RPS Parallel Robot Based on ADAMS and ANSYS[J].Applied Mechanics&Materials,2013(29):91-96.
[28]刘亚军,黄田.6R操作臂逆运动学分析与轨迹规划[J].机械工程学报,2012,48(03):9-15.
[2]李宪华,疏杨,张雷刚,等.六自由度模块化机械臂有限元分析及优化[J].中国工程机械学报,2017(15):107-112.
[3]王占军,赵玉刚,刘新玉,等.码垛机器人结构设计与模态分析[J].机械设计与制造,2014(8):164-166.
[4]程丽,刘玉旺,骆海涛,等.165kg焊接机器人有限元模态分析[J].机械设计与制造,2012(1):147-149.
[5]陈成,六自由度工业机器人虚拟设计及仿真分析[D].南京:南京信息工程大学,2013.
[6]陈祝权,梁晓合,林粤科,等.六自由度串联机器人结构设计及有限元分析优化[J].机床与液压,2013(41):97-101.
[7]高晓飞,李春书,齐立哲,等.6R轻量化关节机器人的静刚度建模及分析[J].河北工业大学学报,2017(46):29-34.
[8]费仁元,张慧慧.机器人机械设计和分析[M].北京工业大学出版社,1998.
[9]孙龙飞,房立金.机械手臂结构设计与性能分析[J].农业机械学报,2017(48):402-410.
[10]蔡自兴,谢斌.机器人学[M].北京:清华大学出版社,2015.
[11]丁学恭.机器人控制研究[M].杭州:浙江大学出版社,2006.
[12]丁佳洛,战强.基于ADAMS的串联机器人运动学反解与动力学优化[J].机电产品开发与创新,2008(21):9-11.
[13]李增刚.ADAMS入门详解与实例[M].北京:国防工业出版社,2014.
[14]Kim P.Rigid Body Dynamics for Beginners:Euler Angles&Quaternion[M].Charleston,South Carolina,USA:Create Space,2014
[15]陈立平,张云清,任卫群,等.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社,2004.
[16]邵忍平.机械系统动力学[M].北京:机械工业出版社,2017.
[17]Dasari A,Reddy N S.Forward and inverse kinematics of a robotic frog[M].Intelligent Human Computer Interaction,2012:1-5.
[18]张立栋,李亮玉,王天琪.工业机器人逆解问题的旋量解法[J].机械科学与技术,2016,35(04):539-544
[19]Husty M L,Pfumer M.A new and efficient algorithm for the inverse kinematics of a general serial 6R-manipulator[J].Mechanism and Machine Theory,2007,42(0 1):66-81.
[20]余晓流,刘进福.基于ADAMS的六自由度焊接机器人运动学分析及仿真[J].安徽工业大学学报,2012(1):49-53.
[21]陈鲁刚,平雪良,徐稀文,等.基于ADAMS的焊接机器人轨迹规划[J].江南大学学报,2011(02).
[12]白丽平,解生冕.点焊机器人模型的动力学仿真分析机电工程技术[J].机电工程技术,2007(36):49-52.
[23]朱建文,周波,孟正大.基于Adams的150kg机器人运动学分析及仿真[J].工业控制计算机,2017(30):82-87.
[24]王梦.多自由度串联机器人运动学分析与仿真[D].北京:北京理工大学,2016.
[25]陈峰华.ADAMS 2012虚拟样机技术从入门到精通[M].北京:清华大学出版社,2013.
[26]邱宁佳,隋振,李明哲,等.六自由度机器人空间划线轨迹规划算法[J].吉林大学学报:工学版,2013,43(05):1307-1313.
[20]刘松国,朱世强,王宣银.基于矩阵分解的一般6R机器人实时高精度逆运动学算法[J].机械工程学报,2008,44(11):304-309.
[27]Luo H T,Chen Z C,Wang H G.Rigid-Flexible Coupling Dynamics Simulation of 3-RPS Parallel Robot Based on ADAMS and ANSYS[J].Applied Mechanics&Materials,2013(29):91-96.
[28]刘亚军,黄田.6R操作臂逆运动学分析与轨迹规划[J].机械工程学报,2012,48(03):9-15.