摘要
随着科技进步和生产自动化水平的提高,码垛机器人在自动化领域应用越来越广泛。而码垛机器人技术在解决劳动力不足、提高劳动生产效率、降低生产成本和工人劳动强度、改善生产环境等方面具有很大潜力。根据码垛机器人的现场作业要求,设计了四自由度的混联机器人,机器人能够实现抓手在三维空间的移动以及围绕机械臂末端的转动。该机器人结构简单,动作范围大,承载能力强,运行速度快。为使机器人具有更合理的结构和动态特性,利用三维建模软件UG建立码垛机器人的三维模型,并导入ANSYS WORKBENCH中进行模态分析,找到机器人振动薄弱的部位,为结构的优化设计提供可靠的理论依据。
With the improvement of scientific and technological progress and production automation level, palletizing robot is more and more widely applied in the field of automatioru The palletizing robot technology has great potential to solve labor shortages, improve labor productivity, reduce production cost and the labor intensity of workers, and to improve the production environment. According to the requirements of operation site of paUetizing robot, a hybrid robot with four degrees of freedom is designed, and the robot grasper can be moved in the three-dimensional space and can be rotated around the end of the manipulator. The robot has the advantages of simple structure, large operating range, strong bearing capacity and fast running speed In order to make the palletizing robot with more reasonable structure and dynamic characteristics, the three- dimensional solid model of the palletizing robot is established with UG. Based on the seamless connectivity of the ANSYS WORKBENCH, the three-dimensional solid model of the palletizing robot is added to the ANSYS WORKBENCH, and then the finite element modal analysis of the robot is completed The results can find out the weak parts of the robot, aud provide a theoretical basis for the optimum design of the structure.
出处
《机械设计与制造》
北大核心
2014年第8期164-166,共3页
Machinery Design & Manufacture
基金
国家自然科学基金项目资助(51375285)
