抓取机械手的运动仿真及腰部有限元分析

Motion Simulation of Grab Manipulator and Finite Element Analysis of Its Waist

运用UG对抓取机械手建立实体模型,同时运用UG的运动分析模块对机械手的大臂部位、以及末端执行器进行了运动仿真。机械手在工作过程中有可能倾倒,腰部在受到过大的力矩的作用下发生弯曲,从而影响了机械手在竖直方向的运动。运用嵌入UG的Nastran对腰部结构进行有限元分析,得出最大应力,并与计算应力相比较,为机械手的平稳工作以及以后的改进工作提供了保证。

The solid model of the grab manipulator is established by using UG,at the same time,by using the motion analysis module of UG,the manipulator arm position and the end of the actuator motion simulation are carried out.For the problem that the manipulator easily capsize in the process of work,waist can be bent by the excessive role of the overturning moment,thus the movement of robot in the vertical direction.Using Nastran embedded to UG,the finite element analysis of waist is carried out,maximum stress is obtained,compared with the calculated stress,the commitment of the smooth work,and the future design improvement of the manipulator is provided.