探测机器人机械臂的振动分析与结构优化

Vibration Analysis and Structure Optimization of the Manipulator of Robotic Explorer

通过Solid Works建立探测机器人机械臂模型,用有限元软件ANSYS对机械臂危险工况进行振动分析,得到机械臂的振动特性,根据分析结果对机械臂进行结构优化。通过对机械臂进行参数化建模,然后建立优化模型,采用Workbench响应曲面分析方法对机械臂结构进行优化,根据优化结果选取合适优化参数。改进后机械臂整体质量减小5.1%,优化后最大应力明显减小,固有频率明显增大,机械臂的末端振幅明显减小,有效减小了振动对机械臂工作性能的影响。

The manipulator model of the Robotic explorer was established by Solid Works,and the vibration analysis was carried out by the finite element software ANSYS to get the dynamic characteristics of the robotic arm,then the robot arm structure was optimized. Through the parameterized modeling of the manipulator,the model of optimization was established,then the structure of the manipulator was optimized by the Workbench response surface analysis method,and the optimal optimization parameters were selected according to the optimization result. After the improvement,the overall mass of the manipulator decreased by 5. 1%. The analysis shows that the maximum stress is obviously reduced,the natural frequency is obviously increased,and the amplitude of the tip of the manipulator is obviously reduced,which effectively reduces the influence of vibration on the working performance of the manipulator.