基于ANSYS Workbench的安全阀自动上料机械手抓取机构优化设计

Optimization design of grabbing mechanism of safety valve auto-loading manipulator based on ANSYS Workbench

通过建立安全阀自动上料机械手抓取机构模型即卡爪和卡臂模型,利用ANSYS Workbench软件对其进行极限危险工况下的应力分析。首先根据分析结果建立优化模型,紧接着拟合响应曲面并分析变量灵敏度,然后在此基础上分别采用Screening、MOGA两种算法对抓取机构模型进行变量优化和对比,在保证强度的条件下,减小模型总质量。最后根据优化分析结果,采用六西格玛分析法比较优化前后抓取机构模型的可靠性。结果表明:选用MOGA优化算法的优化效果最好,优化后的抓取机构模型总质量减少了6.30%,模型的可靠性提高了14.64%。

By establishing the grabbing mechanism model of the auto-loading manipulator of the safety valve,namely the clamping jaw and clamping arm model,the ANSYS Workbench software was used to analyze the stress under extreme dangerous working conditions.Firstly,the optimization model was established based on the analysis results,then the response surface was fitted and the sensitivity of the parameters was analyzed.On this basis,two algorithms,Screening and MOGA,were used to optimize and compare the parameters of the grabbing mechanism model,so as to reduce the overall mass of the grabbing mechanism model under the condition of guaranteeing the strength.Finally,according to the results of optimization analysis,the six sigma analysis method was used to compare the reliability of grabbing mechanism model before and after the optimization.The results show that the MOGA algorithm has the best optimization effect and the mass of the grabbing mechanism model is reduced by 6.30%,and the model reliability is improved by 14.64%.