摘要
以所设计的一种四自由度高速重载码垛机器人为研究对象,建立其简化三维模型。采用机械仿真设计软件Solid-Works Simulation工具首先对模型中零件底座、末端执行器进行静力学分析,并根据分析结果优化其结构,然后对整机在最大载荷情况下的几个典型位姿进行分析,得到整机在工作空间内的应力、应变和位移云图,并进一步优化杆类零件壁厚。对零件的优化提高了码垛机器人的静刚度和动力学性能,通过对整机的分析得到了码垛机器人在工作空间内的静刚度分布特性,为码垛机器人的设计提供了参考依据。
Build a simplified three-D model for a kind of four-DOF high-speed heavy-load palletizing robot. Using mechanical and simulation design software ,SolidWorks Simulation tools to make static analysis for parts of the model and optimize their structure based on the results of analysis. Then further optimize the wall thickness of rod parts and get the stress, strain, displacement con- tours by analyzing for several typical position and orientation under maximum load condition. Optimization of the parts improve the static stiffness and dynamic property of palletizing robot, analysis of the entire machine get the distribution feature of the static stiffness in the workplace and provide a strong basis for the design of palletizing robot.
出处
《现代制造工程》
CSCD
北大核心
2012年第10期18-22,共5页
Modern Manufacturing Engineering
基金
国家科技重大专项项目(2011ZX04013-011)
关键词
码垛机器人
静力分析
结构优化
palletizing robot
static stiffness
structure optimization
