轴承环锻压操作机器人运动学分析与动力学仿真

Kinematics analysis and dynamics simulation of forging manipulator for bearing ring

为实现轴承环锻压过程自动化,设计一种三自由度轴承环锻压操作机器人。首先,在SolidWorks环境下建立轴承环锻压操作机器人实体模型,根据D-H法建立该机器人连杆坐标系,进而建立机器人的运动学方程,对运动学问题进行求解;然后利用ADAMS软件对机器人进行运动学仿真,对机器人运动情况进行多方面分析,仿真结果表明,此轴承环锻压操作机器人在各方向速度、加速度波动幅度小,位移曲线无拐点,运行平稳,适用于轴承坏自动锻压生产工作,进一步验证了机器人设计的可行性;最后对机器人进行动力学仿真,仿真结果对机器人驱动关节电动机参数的选择具有指导作用。

In order to automate the forging process of bearing rings,a three-degree-of-freedom forging manipulator for bearing rings is designed.Firstly,the solid model of bearing ring forging manipulation robot is established in SolidWorks environment,and the linkage coordinate system of the robot is established according to D-H method,then the kinematics equation of the robot is established to solve the kinematics problem.Then,the kinematics simulation of the robot is carried out by ADAMS software,and the motion situation of the robot is varied.Surface analysis and simulation results show that the bearing ring forging manipulator has small fluctuation range of speed and acceleration in all directions,no inflection point in displacement curve and smooth operation,which is suitable for the production of bearing bad automatic forging,and further verifies the feasibility of the robot design.Finally,the dynamic simulation of the robot is carried out.The results can be used to guide the selection of motor parameters for robot driving joints.