折弯辅助机器人的设计及动力学仿真

Design and Dynamic Simulation of A Bending Auxiliary Robot

从自动化折弯工艺出发,设计了B20型六轴直角坐标折弯机器人整机结构,并在多体动力学分析软件中对系统进行建模,完成了运动学仿真,获得了Y、Z、A轴的速度、加速度曲线,为具体的结构设计和运动控制提供依据。

In order to meet the demand for the bending auxiliary robot in the market,the structure of the B20 six-axis Cartesian coordinate bending robot is designed according to the automatic bending process.The kinematics and dynamic characteristics of the system are simulated in a multi-body dynamic analysis software,the speed curves and the acceleration curves of the Y,Z and A axes are obtained.It provides a reference for detail structural design and motion control.