工业机器人手臂结构的有限元分析与研究

Finite element analysis and study on the construction of industrial robot manipulator

本文采用有限元的方法，对典型机器人手臂进行力学分析。所选取的平面壳体等参单元是将平面应力问题与平板弯曲问题相叠加，并选用拟合性好的等参单元进行计算。在力学分析的基础上，确定了平面壳体单元的刚度矩阵，并根据载荷情况求出节点位移。实践证明，这种有限元分析方法有较高的实用性，为工业机器人手臂结构的优化提供了理论基础。

By adopting the method of finite element,this paper carried out a mechanical analysis on typical robot manipulator, The selected flat shell isoparametric element is the superposition of planar stress problem together with bending problems of flat plate and the calculation are carried out by selecting isoparametric element with good adaptation. On the basis of mechanical analysis, the rigidity matrix of flat shell element has been determined and the displacement of joint has been found out according to the situation of loading. It is verified by practice that this kind of qinite element analysis method has fairly high practicality, and thus provided a theoretical basis for the optimization of structure of industrial robot monipulator.