基于有限元的机械手损伤诊断

Damage Diagnosis of Manipulator Based on Finite Element Method

机械手在加工制造领域应用广泛。由于大多数机械手作业环境比较恶劣,受到振动、冲击等因素的影响,机械手在工作过程中不可避免地会出现损坏。若不及时在早期发现或处理,就有可能对生产造成极大的损失。采用合理且有效的方式对机械手进行定期的损伤诊断是十分必要的。本文首先采用有限元方法模拟机械手振动信号,接着利用主成分分析法处理振动信号,以此来判断机械手的损伤情况,为实际生产实践提供指导意义。

Manipulators are widely used in the field of processing and manufacturing.Due to the harsh working environment of most manipulators and the influence of vibration,shock and other factors,the ma⁃nipulator will inevitably be damaged during the working process.If it is not detected or dealt with at an early stage in time,it may cause great losses to production.It is necessary to carry out regular damage di⁃agnosis of the manipulator in a reasonable and effective way.The finite element method is used to simu⁃late the vibration signal of the manipulator,and then the principal component analysis method is used to process the vibration signal,so as to judge the damage of the manipulator,which provides guidance for practical production practice.