关节机械手的刚柔耦合分析

Rigid-flexible Coupling Analysis of the Joint Manipulator

针对关节机械手工作时手爪的受力情况进行研究,结合多柔体系统动力学方法,建立了基于刚柔耦合的关节机械手的虚拟样机,进行关节机械手的动态特性仿真与评价。导出手爪的受力曲线,通过对曲线的分析,验证仿真结果的正确性。最后将手爪柔性体的载荷文件导入到ANSYS中进行有限元分析,判断手爪在工作中所受的最大等效应力,并提出对关键部位材料的改进,为工程应用提供了很好的理论依据。

In order to study the gripper stress of the joint manipulator, the virtual prototype based on rigid-flexible coupling was established, in combination with multi- flex body system dynamics, and its dynamic behavior was simulated in ADAMS. Then the stress curve is exported, the simulation results are verified through analysis of the curve. The load file of the gripper flexible body is imported into ANSYS To conduct finite element analysis. The gripper＇s maximum equivalent stress is achieved by the FEA and the development of the materials of key parts is proposed, which offered good theoretical basis for applica- tion in engineering.