基于solidworks的搬运机械手设计及仿真研究

Solidworks-based Handling Manipulator Design and Simulation Study

为提高企业自动化水平和工人劳动效率,设计了一种直角坐标式零件搬运机械手。首先,对搬运机械手的工作原理和机械结构进行简述,确定搬运机械手总体和关键部件的结构形式,并通过solidworks软件对搬运机械手的结构进行建模。模型建立后利用solidworks插件对搬运机械手的机架和X轴平台进行了静力学分析和模态分析,确保其结构具有足够的机械强度。静力学和模态分析结果表明,搬运机械人机架横梁和X轴平台变形量很小,所设计的机架结构和X轴平台具有足够的机械强度;电机激振频率为3.738 Hz,远小于机架的一阶频率17.314 Hz,不会发生共振现象。因此,所设计的搬运机械手整体的安全系数较高。

A Cartesian coordinate part handling manipulator is designed to improve the automation level of enterprises and labor efficiency of workers.First of all,the working principle and mechanical structure of the manipulator are described,and the structural form of the manipulator and key components is determined.The structure of the manipulator is modeled by solidWorks software.In order to ensure that the structure has enough mechanical strength,after the model is established,statics and modal analysis are carried out on the frame and X axis platform of the manipulator by using SolidWorks plug-in.The results of statics and modal analysis show that the deformation of the frame beam and X-axis platform is small,and the designed frame structure and X-axis platform have sufficient mechanical strength.The excitation frequency of the motor is 3.738 Hz,far less than the first-order frequency of the frame 17.314 Hz,and resonance phenomenon will not occur.Therefore,the design of carrying manipulator overall safety factor is higher.