基于Pro/E和Ansys Workbench的搬运机械手设计与优化

Design and Optimization of Material Grabbing Manipulator Based on Pro/E and Ansys Workbench

为提高企业物料加工车间的效率,本文基于Pro/E和ANSYS Workbench设计了一种物料搬运机械手。采用丝杠加滑台的组合方式控制手臂的升降和伸缩,通过气缸控制手部的张开和闭合,手指通过螺栓固定在手掌上,并可以根据零部件的需要进行更换。采用PRO/E绘制物料抓取机械手的简易模型,同时利用Ansys Workbench中的Static Structual模块对机械手手部组件进行静力学分析,得到应变位移为0.032 mm,等效应力为10.03 MPa,满足强度要求。同时,采用Ansys Workbench中的拓扑优化模块,对机械手手部进行拓扑优化。优化结果表明,改进后结构质量减少了40%,强度满足设计要求。该研究为整个机械手系统的优化提供了理论依据。

In order to improve the efficiency of the enterprise material processing workshop,this paper provides a design method of a manipulator based on the Pro/E and Ansys Workbench.It controls arm lifting and stretching by combination of screw and slide,controls the opening and closing of the hand and fingers in the palm of the hand fixed by bolts through the cylinder,and it can replace components and parts according to the needs.Using PRO/E to draw a simple model of material manipulator,at the same time using the Static Structual module of Ansys Workbench to carry out the static analysis of the manipulator components,we obtain that the strain displacement is 0.032 mm,and the equivalent stress is 10.031 MPa,which meets the strength requirements.The topology optimization module of Ansys Workbench is used to optimize the manipulator.The optimization results show that the structure quality is reduced by 40%and the strength meets the design requirements.The topology optimization provides a theoretical basis for the optimization of the whole manipulator system.