运用SolidWorks与ANSYS的仿人机械臂设计与分析

Design and Analysis of Humanoid Manipulator Based on SolidWorks and ANSYS

为提高机械臂的灵活性,设计了一款与人臂相似的仿人机械臂。首先,利用SolidWorks建立仿人机械臂的三维模型,包含机架、大臂、小臂、手掌等;然后,分析了仿人机械臂在极限位置抓取10 kg物体时各个关键关节的受力情况,为各个关节电机的选型提供依据;最后,根据受力分析结果,利用ANSYS对仿人机械臂进行静力学分析与优化设计分析。结果表明,该机械臂设计合理,且优化后其质量减少了15.9%,提高了灵活性。

In order to improve the flexibility of the manipulator, a humanoid manipulator is designed. The 3 d model of humanoid manipulator is built based on SolidWorks, including the frame, the big arm, the small arm and the palm. The force of each key joint when the humanoid manipulator grabs a 10 kg object at the limit position is analyzed, which provides a reference for the selection of each joint motor. Finally, according to the force analysis results, the static analysis and optimal design analysis of the humanoid manipulator are performed by ANSYS. The results show that the design of the manipulator is reasonable, and the optimized mass is reduced by 15.9%, which improves the flexibility of the manipulator.