六自由度串联机器人结构设计及有限元分析优化  

Structural Design and Optimization of 6 Axes Serial Robot

作　　者：陈祝权 梁晓合 林粤科 王念峰[2] 

机构地区：[1]广州机械科学研究院有限公司,广东广州510700 [2]华南理工大学精密装备与制造技术广东省重点实验室,广东广州510640

出　　处：《机床与液压》2013年第23期97-101,共5页Machine Tool & Hydraulics

基　　金：广州黄埔区科技计划项目重大专项(201230);广州市科技计划项目(2013J4300008)

摘　　要：介绍一种六自由度工业机器人机械结构的设计,包括电机、减速器的选型,各关节部件基体及其他零件的设计。将设计好的机械结构模型导入有限元分析软件进行静态分析和模态分析,进而对模型结构进行优化。经优化,机器人结构在静力学、运动学及动力学方面均符合设计要求。该设计结构简单稳固,各零部件加工及安装方便,且增加了机器人的可重构性。A kind of six axes industrial robot mechanical structure design was introduced, including the selection of motor and re- ducer, the design of parts in each joint unit. The mechanical model was put into the finite element analysis software to make the static analysis and modal analysis, then the mechanical structure was optimized. The robot structure is completely conformed to the design re- quirements in statics, kinematics and dynamics after the optimization. This design has simple structure, the parts machining and the installation are convenient, which make the robot more reconfigurable.

关 键 词：工业机器人 结构设计 有限元分析 

分 类 号：TH39[机械工程—机械制造及自动化]