一种新型混联码垛机器人的静力学分析及结构优化

Static Analysis and Structural Optimization of A Novel Hybrid Palletizing Robot

以所开发的一种新型混联码垛机器人为研究对象,建立其虚拟样机。应用Solid Works Simulation模块首先对样机中的动平台、回转台进行静态力学分析,根据分析结果进行改进;对混联码垛机器人在最大载荷下的几个关键位姿进行分析,得到其在工作空间内的应变、应力和位移云图。通过对关键零件的改进提高了混联码垛机器人的刚度和力学性能;对整机的分析得出了混联码垛机器人在它给定的工作空间内静刚度分布特点,为以后混联码垛机器人的进一步设计提供了参考。

With a novel hybrid palletizing robot developed as the research object, builded the virtual prototype which was optimized according to the results of the static analysis carried on, while SolidWorks Simulation module was used in motion platform and rotary base of module. Stress and strain of the whole machine and displacement nephogram in the workspace were obtained through the analysis of several typical positions and poses of the whole machine under the maximum load. The static stiffness and dynamic performance of palletizing robot were improved through the optimization of parts. Analysis of the whole machine has obtained the static stiffness distribution characteristics of the hybrid palletizing robot in the workspace. Those provided a reference for design of the hybrid palletizing robot.