抓取机械手运动仿真及腰部结构频响分析  

Motion Simulation of Grab Manipulator and Frequency Response Analysis of Waist

作　　者：彭万万 闫宏伟[1] 宋志强[2] 

机构地区：[1]中北大学机械工程与自动化学院,太原030051 [2]太原科技大学机械工程学院,太原030051

出　　处：《煤矿机械》2014年第4期91-93,共3页Coal Mine Machinery

基　　金：国家自然科学基金资助项目(50775154);山西省自然科学基金资助项目(2013011026-2)

摘　　要：运用Catia对抓取机械手进行三维实体建模并装配,同时在其运动仿真模块DMU中应用Rule规则对机械手的运动实施控制,得到每个转动副的角速度曲线。高速运转的悬臂杆件将产生很大的惯性力,使杆件关节近端产生弯矩和扭矩,从而影响其运动速度和定位精度。运用Hyperworks软件对机械手腰部结构进行模态法频响分析,得出关键节点的位移响应曲线,为机械手动态特性的研究提供理论依据。The three-dimensional solid modeling of the grab manipulator is created and assembled by Catia, at the same time, by using the DMU module of Catia to control the movement of the grab manipulator, obtained the angular velocity of each revolute pair. High-speed rod member will have a great inertial force, this will produce bending and torque moment on the joints, thus affecting its speed and positioning accuracy. Using Hyperworks to implement modal frequency response analysis on the waist of the grab manipulator, obtained the key nodes＇ displacement response curve, provide a theoretical basis for the dynamic characteristics of the grab manipulator.

关 键 词：机械手 运动仿真 频响分析 CATIA HYPERWORKS 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]