基于ANSYS Workbench的机械手关键部件优化

Structural Optimization of Key Parts of Manipulator Based on ANSYS Workbench

为保证机械手在夹持工件过程中的安全性和稳定性,课题组基于ANSYS Workbench对球形工件夹持机械手的关键部件进行了优化。课题组对机械爪进行了静力学分析,确定了机械爪最优厚度尺寸,验证了其强度、刚度及可靠性;对传动轴进行了模态分析,求解出了传动轴的6阶固有频率和振型,以防止共振对零件造成损伤。结果表明:模拟研究准确评估了夹持过程零件易受损伤的部位,揭示了振动的内在规律,为机械手的设计制造提供了参照。

To ensure the safety and stability of the manipulator in the process of clamping the workpiece,the key parts of the sheprical workpiece clamping manipulator was optimized based on ANSYS Workbench.The mechanical jaw was statically analyzed to determine the optimal thickness of the mechanical claw and verify its strength,stiffness and reliability.Modal analysis of the drive shaft was carried out,the sixth-order natural frequency and vibration mode of the transmission shaft were solved to prevent the damage of the part caused by resonance.The results show that the vulnerable parts of the clamping proocess are accurately evaluated by simulation study,which reveals the law of the inherent vibration and provides a reference for the design and manufacture of the manipulator.