摘要
以自主研发的SR3-600型六关节工业焊接机器人为研究对象,设计了机器人的整体方案及传动形式。运用Solidworks对机器人的各部件进行三维建模及虚拟样机的装配,并利用有限元分析软件Ansys Workbench对机器人在最危险工况下的结构强度进行仿真计算,包括静力学和动力学分析。仿真结果验证了机器人结构强度的可靠性,并在满足性能要求的前提下对机器人进行有限元拓扑优化以提高其负载-自重比,为相关机器人的设计提供了理论依据。
The overall design for the six-DOF industrial welding robot named SR3-600 is proposed in this paper. The robot is established and assembled by Solidworks. To determine the reliability of the structural strength of the robot while it is under limited working conditions, Ansys Workbench is used to examine the static and dynamic performance. The results demonstrate that the whole structure is reliable and can be further simplified. At last, the topology optimization is carried out to rise the load-weight ratio of the robot and it provides theoretical basis for the design of the future robots.
出处
《机械设计与研究》
CSCD
北大核心
2016年第4期50-53,共4页
Machine Design And Research
基金
科技部中小企业技术创新基金项目(14C26213201195)
