木勺生产线机械臂的动静特性及结构优化

Static and Dynamic Characteristics and Structural Optimization of Wooden Spoon Production Line

为实现木勺生产线上下料功能,同时节约成本,采用建模软件与有限元分析软件的协同仿真技术,对木勺生产线的机械臂进行动静性能分析,运用Parameters Correlation方法筛选出对生产线机械臂动静性能影响较大的设计变量。在此基础上,采用拉丁超立方抽样法对筛选的设计变量进行采样,对比分析Kriging模型与NPR模型构建的生产线机械臂的近似模型,并采用MOGA法对设计的目标函数进行求解。对优化后的木勺生产线机械臂进行建模分析,对比得出,优化后的模型Y方向最大振幅为1.1137 mm,可实现设想功能,动静性能得到提升。研究成果可为后续生产线机械臂结构设计提供参考。

In order to ensure that the designed model can achieve loading and unloading functions while minimizing costs,the collaborative simulation technology modeling software and finite element analysis software were used to analyze the static and dynamic performance of the wooden spoon production line robotic arm.The Parameters Correlation method was used to analyze the selected design variables and select the design variables that had a significant impact on the static and dynamic performance of the wooden spoon production line robotic arm.Latin hypercube sampling was used to sample the selected design variables,and the approximate model of the production line manipulator constructed by Kriging model and NPR model was compared and analyzed,and the MOGA method was used to solve the design objective function.After modeling and analyzing the optimized wooden spoon production line robotic arm,it was found that the maximum amplitude in the Y direction of the optimized model was 1.1137 mm,which can achieve the desired function and improve the static and dynamic performance.The research results could provide important reference basis for the structural design of robotic arms in subsequent production lines.