四自由度锻造机械臂结构设计与仿真

Structure Design and Simulation of Four Degrees of Freedom Forging Manipulator

针对锻造的特定工况,本文设计了一种四自由度专用搬运机械臂,腰部能实现机械臂270°的水平回转运动,手腕实现90°的回转运动,升降液压缸和上臂液压缸分别实现机械臂的升降运动和伸缩运动。利用虚拟样机软件Adams,对机械臂进行了动力学分析,得到了机械臂末端执行器的运动轨迹、速度、加速度和位移曲线,仿真计算结果表明机械臂运转平稳,无刚性冲击。利用有限元软件Workbench对机械臂上臂变形进行了分析,为减小变形,对机械臂上臂进行了结构优化。最后对机械臂的重要承载部件进行了静力学分析,分析结构表明各部件强度均满足要求。

In view of the specific working conditions of forging,a special handling manipulator with four degrees of freedom was designed in this paper,which can realize the horizontal rotational motion of the manipulator 270°and the lifting and stretching of the manipulator by lifting the hydraulic cylinder and the upper arm hydraulic cylinder respectively.Using the virtual prototype software Adams,the dynamic analysis of the manipulator was carried out,and the motion trajectory,velocity,acceleration and displacement curves of the manipulator end actuator were obtained,and the simulation results showed that the manipulator runs smoothly and had no rigid impact.The deformation of the upper arm of the manipulator was analyzed by using the finite element software Workbench,and the structure of the upper arm of the manipulator was optimized in order to reduce the deformation.Finally,the statics analysis of the important bearing parts of the manipulator was carried out,and the analysis structure showed that the strength of each component met the requirements.