基于形态学矩阵法的搬运机械手结构分析与优化

Structural analysis and optimization of handling manipulator based on morphological matrix method

上下料搬运机械手作为自动化生产线向智能化转型升级的重要组成部分,对生产线智能化和提升生产线效率起着至关重要作用。以搬运机械手为研究对象,基于形态学矩阵法对机械手结构设计方案进行优化。通过疲劳仿真与有限元仿真方法对搬运机械手关键结构部件进行分析,验证理论推导准确性。结果表明,采用计算机控制的平板式机械手为最佳设计方案,且齿轮传动方式疲劳值更小,夹爪机构应力值更小,应力分布更均匀,最大应力47.5 N/mm2。所提出机械手可有效延长其工作寿命,为机械手结构设计与力学性能优化奠定理论基础。

As an important part for automatic production line with intelligent transformation and upgrading,loading and unloading handling manipulator plays a vital role in enhancing the intelligent level and improving the efficiency of the production line.Herein,the manipulator was investigated and the manipulator structure was optimized based on morphological matrix method.The key structural components of the handling robotic arm are analyzed through fatigue simulation and finite element simulation methods to validate the accuracy of theoretical derivations.The results indicate that the computer-controlled planar robotic arm is the optimal design,with the gear transmission having lower fatigue,lower stress in the gripper mechanism,more uniform stress distribution,and a maximum stress of 47.5 N/mm2.The proposed robotic arm can effectively extend its service lifespan,laying theoretical foundation for structural design and mechanical performance optimization of the robotic arm.