重载长行程机械臂设计及力学性能分析

Design and Mechanical Performance Analysis of Heavy-duty and Long-stroke Manipulator

为实现机械臂的重载化和远距离运输,设计一种能够输送2~12 t棒料的送料机械臂,通过联合机构能够达到2700 mm长行程输送目的。为了验证机械臂结构合理性以及在运输过程中的稳定安全性,基于机械臂模型分别进行了静力学分析、模态分析和谐响应分析。分析结果表明:机械臂横梁的设计达到强度要求,前六阶模态振形最大位移偏大,需要在机械臂中设计加强筋,以提升横梁载荷能力。上部机械臂的谐响应分析表明,当上部机械臂频率在100 Hz处时,最大变形为0.11943 mm。为了验证有限元分析的可靠性,对机械横梁进行锤击法单点激励,拾取多点响应频谱。理论分析与试验测试结果的最大误差值为4.0%,发生在第二阶处,两者吻合度较为合理,表明这种机械臂满足重载和长行程的设计需求。

In order to realize the heavy load and long-distance transportation of the robot arm,a kind of feeding robot arm that can transport 2-12 tons of bar material is designed,and the combined mechanism can achieve the purpose of 2700 mm long-stroke transportation.In order to verify whether the structure of the robot arm is reasonable and whether it is stable and safe during transportation,the paper carries out static analysis,modal analysis and harmonious response analysis based on the robot arm model.The analysis results show that the design of the robot arm beam meets the strength requirements.The maximum displacement of the sixth-order mode vibration shape is too large,and it is necessary to design stiffeners in the robotic arm to effectively improve the load capacity of the beam.In addition,the harmonic response analysis of the upper manipulator arm shows that when the frequency of the upper manipulator arm is at 100 Hz,the maximum deformation is 0.11943 mm;in order to verify the reliability of the finite element analysis,the mechanical beam is single-point excitation of the hammering method and the multi-point response is picked up Spectrum,the maximum error between the theoretical analysis results and the experimental test results is 4.0%,which occurs at the second stage.The agreement between the two is reasonable.The results show that this manipulator meets the design requirements and can realize the functions of heavy load and long stroke.