六轴焊接机器人静态分析与优化
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摘要
为了研究六轴焊接机器人的静态特征与其结构设计的优化,应用SoildWorks软件简化模型,运用ADAMS对六轴焊接机器人进行运动仿真,得到了电机与减速器的转矩、转速等数据。本文将仿真数据与试验数据相比较,校核电机与减速器。通过数据分析表明,第6轴电机和减速器有较大的工作裕度,可以根据需求重新选型。之后基于ANSYS Workbench软件对机器人主要零件做有限元分析,最终给出优化方案,为机器人结构设计提供重要的参考依据。
In order to study the static characteristics and structural design optimization of six axis welding robot, SoildWorks software is used to simplify the model. Then ADAMS is used to simulate the movement of the six axis welding robot, and the torque and rotation speed of the motor and the reducer are obtained. This paper compares the simulation data with the experimental data and checks the motor and reducer. The data analysis shows that the sixth axle motor and reducer have greater working margin, so they can be re selected according to the demand. Then the finite element analysis of the main parts of the robot is carried out based on ANSYS Workbench software, and finally the optimization scheme is given, which provides an important reference for the robot structure design.
In order to study the static characteristics and structural design optimization of six axis welding robot, SoildWorks software is used to simplify the model. Then ADAMS is used to simulate the movement of the six axis welding robot, and the torque and rotation speed of the motor and the reducer are obtained. This paper compares the simulation data with the experimental data and checks the motor and reducer. The data analysis shows that the sixth axle motor and reducer have greater working margin, so they can be re selected according to the demand. Then the finite element analysis of the main parts of the robot is carried out based on ANSYS Workbench software, and finally the optimization scheme is given, which provides an important reference for the robot structure design.
引文
[1]马睿,胡晓兵,万晓东.基于ANSYS的小型机器人小臂的有限元静态分析[J].机械设计与制造,2012,(9):4-6.
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[3]袁安富,陈成.基于Solid Works和ANSYS Workbench的六自由度焊接机器人的建模与优化设计[J].机械传动,2013,37(2):53-57.
[4]姜振廷,郑忠才,董旭.基于ANSYS WORKBENCH的六自由度机械臂有限元分析及结构优化[J].制造业自动化,2014,(1):109-110.
[5]刘广瑞.末端质量和关节惯量对柔性臂运动稳定性的影响分析[J].中国机械工程,2014,(4):480-485.
[6]兰春良.焊接机器人本体设计及其精度分析[D].秦皇岛:燕山大学,2013:51-72.
[2]滕悠优.柔性臂的主动控制与实验研究[D].上海:上海交通大学,2007:21-36.
[3]袁安富,陈成.基于Solid Works和ANSYS Workbench的六自由度焊接机器人的建模与优化设计[J].机械传动,2013,37(2):53-57.
[4]姜振廷,郑忠才,董旭.基于ANSYS WORKBENCH的六自由度机械臂有限元分析及结构优化[J].制造业自动化,2014,(1):109-110.
[5]刘广瑞.末端质量和关节惯量对柔性臂运动稳定性的影响分析[J].中国机械工程,2014,(4):480-485.
[6]兰春良.焊接机器人本体设计及其精度分析[D].秦皇岛:燕山大学,2013:51-72.