六自由度机械手静力学分析

Statics Analysis of 6-DOF Manipulator

六自由度机械手是一种较为常见的工业机器人,有较为严格的工作精度和结构刚度要求。以六自由度机械手为研究对象,应用SolidWorks软件建立几何模型,应用Workbench软件进行静力学分析,获得大臂和小臂刚度、应力、应变云图,验证六自由度机械手零部件的设计合理性,为后续设计和改进提供参考。

The 6-DOF manipulator is a relatively common industrial robot,which has strict requirements on working accuracy and structural rigidity.Taking the 6-DOF manipulator as the research object,the SolidWorks software was used to establish a geometric model,and the Workbench software was used for statics analysis.The stiffness,stress and strain cloud diagrams of the big arm and forearm were obtained to verify the rationality of design of the 6-DOF manipulator components,and provide reference for subsequent design and improvement.