中型工业机器人本体机械结构设计
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摘要
六关节工业机器人以动作灵活、结构紧凑等优点广受使用者的青睐。本文以具备80kg负载能力、工作可达半径2250mm、整备质量650 kg为基础设计指标,设计一种具有六个旋转关节的关节型工业机器人的总体机械结构设计方案。对机器人进行动力学分析计算、分析其各个关节在转动惯量、角速度、加速度等技术指标下的工作状况[1],确定各关节应选用的核心零部件。计算各轴电机的功率、转矩,减速器的减速比,完成机器人本体材料和轴承的设计选型计算;用SolidWorks画出机器人的三维仿真模型,并装配成型。
Six-joint industrial robot is widely favored by users for its flexibility and compact structure. Based on the design indexes of 80 kg load capacity, 2250 mm working radius and 650 kg recondition mass, this paper designs an overall mechanical structure design scheme of a jointed in dustrial robot with six rotating joints. The dynamic analysis and calculation are carried out for the robot, and the working conditions of its joints under such technical indicators as moment of inertia, angular velocity and acceleration are analyzed[ 1], so as to determine the core parts to be selected for each joint. Calculate the power, torque and deceleration ratio of each shaft motor, complete the design and type selection calculation of robot body material and bearing; Draw the 3 d simulation model of the robot with SolidWorks and assemble it into shape.
Six-joint industrial robot is widely favored by users for its flexibility and compact structure. Based on the design indexes of 80 kg load capacity, 2250 mm working radius and 650 kg recondition mass, this paper designs an overall mechanical structure design scheme of a jointed in dustrial robot with six rotating joints. The dynamic analysis and calculation are carried out for the robot, and the working conditions of its joints under such technical indicators as moment of inertia, angular velocity and acceleration are analyzed[ 1], so as to determine the core parts to be selected for each joint. Calculate the power, torque and deceleration ratio of each shaft motor, complete the design and type selection calculation of robot body material and bearing; Draw the 3 d simulation model of the robot with SolidWorks and assemble it into shape.
引文
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[2]程军.六自由度关节型机器人本体设计和控制系统的研究[D].哈尔滨:哈尔滨理工大学,2004.
[3] John J.Craig.机器人学导论[M].机械工业出版社.2006.
[4]吴振彪,熊有伦.工业机器人[M].北京:华中理工大学出版社,1996.
[5]曾孔庚,工业机器人技术发展趋势[J].机器人技术与应用,2006,5.
[6]吴挺,吴国魁.6R工业机器人运动学算法的改进[J].机电工程,2013,7.
[7]王呈艺,李业农.MOTOMAN.UP6机器人运动学分析与仿真[J].机床与液压,2013,9.
[8]肖智勇.Motoman工业机器人有限元静态分析及改进设计[J].长沙理工大学学报,2011,4.