基于非线性方程组有限元方法的采摘机器人模拟研究

Research on Picking Robot Simulation Based on Nonlinear Equations Finite Element Method

在设计采摘机器人的过程中,将有限元分析方法引入到了其关键部件的设计上,通过有限元模拟计算可以对机器人的关键部件进行校核分析,实现部件结构的优化设计。同时,将基于非线性方程组将非结构网格使用到了仿真模拟过程中,实现了复杂结构的非线性分析计算。最后,以采摘机器人手臂部件的仿真分析为例,对结构进行了有限元仿真模拟,得到了手臂的应变分布图,为机器人的手臂结构优化提供了重要的数据参考。

In the process of designing the picking robot,it introduced the finite element analysis method to the design of its key components.Through the finite element simulation calculation,it checked and analyzed the key components of the robot,and realize the optimization design of the component structure.Based on the nonlinear equations,the unstructured grid is used in the simulation process to realize the nonlinear analysis and calculation of complex structure.Finally,taking the simulation analysis of the picking robot arm as an example,it carried out the finite element simulation of the structure,and obtained the strain distribution diagram of the arm,which provides an important data reference for the optimization of the robot arm structure.