六自由度焊接机器人本体结构设计及动力学仿真  

Body Design and Dynamic Simulation of 6-DOF Welding Robot

作　　者：林义忠[1] 欧爽翔 

机构地区：[1]广西大学机械工程学院,广西南宁530004

出　　处：《机械设计与制造》2014年第6期21-23,27,共4页Machinery Design & Manufacture

基　　金：广西壮族自治区科技攻关项目桂科攻(1348012-10)

摘　　要：焊接机器人对企业零部件的焊接是一种可靠,高效,低成本的生产方式。机器人的机械本体结构是整个系统的基础,也是目前主要的技术障碍之一。首先在借鉴国内外同类型焊接机器人优点的基础上,从机器人技术参数、本体结构型式、传动方案等方面入手,介绍了焊接机器人机械本体的设计方案。然后描述了基于Pro/E软件平台设计的焊接机器人本体三维模型。最后利用ADAMS软件对机器人系统进行动力学仿真,搜索关节峰值扭矩,并依据仿真结果对所选电机进行校核,提出优化方案。Welding robot, which is used to weld parts and components for enterprises, is a reliable, efficient and low-cost manner used to weld parts and components for enterprise. Mechanical structure is the important basis of the whole system and primary technology obstacle at present. At first, based on the merits of the same type welding robot from home and abroad, design scheme of mechanical structure of welding robot from the aspects of technical parameters, structural style and transmission scheme is introduced. 3D model of welding robot designed based on Pro/E4.0 platform is described. In the end, ADAMS software is used to analyze and simulate the peak torque of robot joints. Motors are checked according to the results of simulation, an optimized scheme is provided.

关 键 词：焊接机器人 本体设计 动力学仿真 ADAMS 电机校核 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]