混合结构机械臂的设计与仿真分析

Design and simulation analysis of hybrid structure manipulator

为减轻金属机械臂的重量,以六自由度机器人的大臂为研究对象,结合三维编织碳纤维复合材料的成型工艺,设计机械臂结构,提出基于CFRP/QT(碳纤维增强复合材料/QT 500-7铸铁)混合结构的机械臂轻量化设计方法。采用有限元分析方法对混合结构机械臂进行静力学分析,得到满足强度及刚度要求下混合结构机械臂的设计方案。力学仿真结果表明,混合结构机械臂质量减少24%,混合结构机械臂机器人具有良好的运动性能,在J1关节处所需驱动力矩更小。

In order to reduce the weight of the metal robot,the big arm of the 6-DOF robot is taken as the research object,and combined the forming process of the three-dimensional braided carbon fiber composite material,a lightweight design method of the manipulator based on the CFRP/QT(carbon fiber reinforced polymer/castiron QT 500-7)hybrid structure is proposed to design the structure of the manipulator.Through the static analysis of the hybrid structure manipulator by the finite element analysis method,the final scheme of the hybrid structure of the mechanical arm is obtained under the requirements of strength and stiffness.At the same time,the dynamic simulation results show that the robot equipped with a 24%weight reduction hybrid structure manipulator has good motion performance,and the driving torque of the hybrid structure manipulator robot at the J1 joint after weight reduction is smaller.