摘要
以一种六自由度工业机器人为研究对象,对其在真实抓取过程中的运动进行有限元分析。采用Pro/E对六自由度工业机器人进行三维建模,将模型导入ANSYS Workbench中,对工业机器人极限位置处的大臂进行有限元静态分析。在ADAMS中工业机器人模拟抓取过程,将结果导入Workbench进行瞬态动力学分析。ADAMS和ANSYS相结合模拟真实运动情况的方法,使校核结果更加的真实、可靠,同时有效验证了设计的合理性。
A six degree of freedom industrial robot was taken as the research object to conduct finite element analysis of its motion during the real grasping process. Firstly,the six degree of freedom industrial robot was modelled by Pro/E,and then the model was imported in ANSYS Workbench,so as to conduct finite element static analysis of the large arm at the extreme position of the industrial robot. Secondly,the results of simulation during the grasping process of industrial robot in ADAMS was imported into the Workbench for transient dynamics analysis. The method of ADAMS and ANSYS combined to simulate the real motion makes the results more accurate and reliable,and verifies the rationality of the design effectively.
作者
徐建飞
范纪华
任亮
方海峰
王琪
吴群彪
XU Jianfei;FAN Jihua;REN Liang;FANG Haifeng;WANG Qi;WU Qunbiao(Electrical and Mechanical and Power Engineering School,Jiangsu University of Science and Technology,Zhangjiagang Jiiangsu 215600,China;Suzhou Institute of Technology,Jiangsu University of Science and Technology,Zhangjiagang Jiiangsu 215600,China)
出处
《机床与液压》
北大核心
2018年第15期24-27,11,共5页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(11502098)
江苏省高校自然科学研究面上项目(15KJB130003)
江苏省大学生创新创业训练计划项目(201613991002Y)
关键词
工业机器人
运动仿真
瞬态动力学
Industrial robot
Motion simulation
Transient dynamic
