砌体墙砌筑机器人结构稳定性分析及优化

Stability Analysis and Optimization of Masonry Robot

目的研究砌体墙砌筑机器人的机械结构稳定性及关键砌筑部件的动力学特性、静刚度特性、模态参数,通过相关特性、参数的分析来优化结构设计并检验设计结果是否满足工程实际需求。方法应用3D建模软件建立机器人的三维模型,结合其关键技术参数运用拉格朗日函数建立砌筑机械臂的动力学模型;运用ADMS的Vie/Post Processor模块进行仿真,通过ANSYS Workbench软件对砌块夹具进行6阶自由振动分析;针对移动底盘进行线性静态结构分析。结果小臂、大臂关节电机最大驱动力矩分别为57.55 N·m和20 N·m;分析得出夹具主要振型为弯曲和扭曲变形,频率为341.78 Hz时最大振幅为55.83 mm;底盘最大应力为82.112 MPa,安全系数为2.86。结论通过大臂、小臂最大驱动力矩可以对工程中的关节电机进行正确选型;经计算安全系数可知底盘结构静刚度特性、结构强度满足工程要求;笔者的分析结果为机器人部件结构强化提供了优化设计思路,有助于提高整机结构稳定性及作业精度。

The structural stability,dynamic characteristics,modal parameters and static stiffness characteristics of the masonry robot are studied to optimize the structural design and test whether the design can meet the actual engineering requirements.The model of the robot is established through 3D modeling software.Combined with the key technical parameters,the dynamic model of the masonry manipulator was established by using Lagrange function,and the simulation results of kinematics parameters were carried out by ADMS/Vie,Post Processor module.The modal analysis of the block fixture and linear static structure analysis of the moving chassis was carried out by Workbench.The results show that the maximum driving torque of the forearm and forearm joint motors is 55 N·m and 20 N·m.The analysis shows that the main modes of the fixture are bending and twisting deformation,and the maximum amplitude is 55.83 mm under the frequency of 341.78 Hz.The maximum stress of chassis is 82.112 MPa and the safety factor is 2.86.According to the analysis results of the maximum driving moment of the forearm and forearm,the joint motor in engineering can be selected correctly.By referring to the safety factor,the static stiffness characteristics and structural strength of the chassis structure meet the engineering requirements.The analysis in this paper can be used to strengthen the structure of the robot parts,and provide an optimal design idea,which is helpful to improve the structural stability and operation accuracy of the masonry robot.