摘要
为了培养学生应用工程软件进行机械装置设计分析的能力,在“机械设计基础”课程设计中对一款冲压上下料六自由度机械手实验平台进行了结构设计与仿真分析。对机械手平台进行整体结构设计,初步规划机械手的尺寸和各个关节的运行范围,利用SolidWorks软件对机械手的各个零部件进行三维建模并装配成机械手整机,利用ADAMS软件对机械手的虚拟样机进行运动学和动力学仿真,验证其运动平稳性,以仿真结果为依据完成电机和减速器的选型,利用ANSYS软件完成机械手的有限元分析,验证其强度和刚度,并分析其固有频率。为冲压上下料六自由度搬运机械手平台的搭建提供了理论基础。
In order to cultivate students ability to apply engineering software for mechanical device design and analysis,a six degree of freedom mechanical arm experimental platform for stamping loading and unloading was designed and simulated in the course design of“Fundamentals of Mechanical Design”.The overall structure of the manipulator platform is designed,the size of the manipulator and the operation range of each joint are preliminarily planned,the three-dimensional modeling of each part of the manipulator is carried out by using SolidWorks software,and the whole manipulator is assembled.The kinematics and dynamics simulation of the virtual prototype of the manipulator is carried out by using ADAMS software to verify its motion stability,based on the simulation results,the selection of motor and reducer is completed,the finite element analysis of manipulator is completed by using ANSYS software,its strength and stiffness are verified,and its natural frequency is analyzed.This study provides a theoretical basis for the construction of six degree of freedom handling manipulator platform for stamping loading and unloading.
作者
陈修龙
张昊
田润洲
邓昱
CHEN Xiulong;ZHANG Hao;TIAN Runzhou;DENG Yu(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China)
出处
《实验室科学》
2024年第1期6-11,共6页
Laboratory Science
基金
山东省一流本科课程建设项目(项目编号:2021-642)
山东省研究生教育优质课程建设项目(项目编号:SDYKC19076)
山东科技大学专业学位研究生教学案例库建设项目(项目编号:2020-17)
山东科技大学优秀教学团队建设计划项目(项目编号:JXTD20180502)。
关键词
机械手平台
运动学分析
动力学分析
有限元分析
manipulator platform
kinematic analysis
dynamic analysis
finite element analysis
