机器人腕关节减速器轴强度优化设计仿真

Strength Optimization Design Simulation of Robot Wrist Reducer Shaft

对机器人腕关节减速器轴的强度进行优化设计,在提高机器人腕关节减速器轴使用性能方面具有重要作用,由于使用环境的不同,使得机器人腕关节减速器轴承受强度存在显著差异,传统方法,无法对强度进行求解或需要将强度优化问题做许多简化处理,导致强度优化耗时长且优化后强度计算结果精度较低的问题。提出采用有限元检测方法,对机器人腕关节减速器轴强度进行优化。通过对机器人腕关节减速器的典型工况进行受力分析,确定腕关节减速器轴有限元分析的载荷边界条件,得到减速器轴载荷变化规律、轴的应力分布情况,对机器人腕关节减速器轴进行强度优化。仿真结果表明,优化后的减速器轴强度安全系数可满足使用要求,且计算值与试验值数据基本吻合,验证了减速器轴强度优化的准确性。

ABSTRACT ： The finite element test method is proposed to optimize the shaft strength of reducer in robot wrist joint. Through the force analysis on the typical working condition of reducer in robot wrist joint, the load boundary condition of finite element analysis of reducer shaft is determined. The change rule of load of reducer shaft and the stress distri- bution of reducer shaft are obtained. The strength optimization is carried out for reducer shaft in robot wrist joint. Simulation results show that the safety factor optimized strength of reducer shaft can satisfy the operating require- ments, and the calculated values are basically Consistent with the experimental data, which verifies the optimization accuracy of shaft strength of reducer.