基于ANSYS Workbench的采摘机器人臂架模态分析  

Modal Analysis of the Harvesting Robot Arm Based on ANSYS Workbench

作　　者：杨志敏[1] 周健[1] 李立君[1] 程学良[1] 

机构地区：[1]中南林业科技大学机电工程学院,长沙410004

出　　处：《农机化研究》2013年第12期56-58,62,共4页Journal of Agricultural Mechanization Research

基　　金：国家林业公益性行业科研专项(201104090);湖南省科技条件创新项目(2012TT2048)

摘　　要：介绍了采摘机器人臂架的结构特征;为了提高林果的采收效率,使采摘机器人具有更合理的结构和动态特性,以模态分析理论为基础,应用有限元分析软件ANSYS Workbench,建立了采摘机器人臂架的有限元模型;选取臂架的3种典型位姿,得出了其在不同位姿下的前6阶固有频率和振型,找出薄弱环节,提出了相应的改进方案,为臂架的进一步优化设计打下基础。In order to improve the harvesting efficiency of forest-fruit, the structure characteristics of the Harvesting Ro- bot Arm was introduced, the harvesting robot should have more reasonable structure and dynamic performance. Based on the modal analysis theory, a finite element model of the harvesting robot arm was established by utilizing the software of ANSYS Workbench. Three kinds of typical pose were selected, further more, the preceding six steps natural frequency and mode were obtained. Last but not at least, the weak parts of the robot arm were found out and relative improving suggestion was put forward, which laid foundation for the optimized design.

关 键 词：采摘机器人 臂架 ANSYS WORKBENCH 模态分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] S126[自动化与计算机技术—控制科学与工程]