长臂机械手手臂结构的有限元分析

Analysis to the Structure of Arm of Long-armed Manipultor in Finite Element Methed

在长臂机械手手臂结构设计中,除考虑强度问题外,还要考虑刚度问题,即机械手在抓起工件后,手臂受力会产生变形,要使机械手满足位置精度要求,必须控制机械手手臂在受力后的变形值,使它在允许范围内。本文采用梁单元的有限元法,着重介绍了截面尺寸不同的长臂机构手手臂的静、动态特性分析程序设计及计算实例。

To design the structure of arm of long-armed manipulater, besides strength facter, stiffness factor should also be taken into account. That's, when the manipulator hand helds up the workpiece, arm deforms by force. To make it meet the precicion of station, to control ovei the value of deformation to make it in arange of admission is necessary when the arm is forced. In this artide, the finite element method for elements of the beam-type are adopted. We introduce the analysis of static and dyuamic characteristics and program design and actual computing examples in defferent size of cross section for the structure of arm of Long-armed manipulater.