码垛机器人抓手的结构设计及有限元分析与优化  

Structure Design and Finite Element Analysis and Optimization of Palletizing Robot Gripper

作　　者：李铁刚[1] 冯显英[1] 岳明君[1] 王兆国[1] 

机构地区：[1]山东大学高效洁净机械制造教育部重点实验室,济南250061

出　　处：《组合机床与自动化加工技术》2017年第3期49-52,共4页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：在机器人远端载荷一定的情况下,文章设计了一种满足色母粒生产线码垛机器人抓手可以满足50kg及以下的包装袋码垛需求。基于构建的抓手三维几何模型和现代有限元分析,对抓手的整体结构进行了在抓取料袋工作状态下应力分析,获得了结构的应力分布情况,验证了抓手结构强度和安全可靠性。对抓手的关键结构进行了疲劳分析,找出最易发生疲劳破坏的部位,并且对该部分进行了优化设计以改善性能。通过对比优化前后的结果表明,疲劳寿命得到显著提高。基于仿真软件的建模、分析验证保证产品设计的可行性、安全可靠性,提高了产品的设计效率,也为码垛机器人抓手的设计提供了依据。Under the circumstance of certain load on the distal end of the robot,this paper designed a meet masterbatch production line palletizing robot gripper which can satisfy the 50 kg and following sack palletiser demand. Based on the construction of the starting point of the 3D geometry model and modern finite element analysis,the whole structure of the starting point of grasping under the working state of the reclaiming bag undertook the stress analysis for the structure of the stress distribution,and it ＇s verified that structural strength and reliability. The key structure of the hand of palletizing robot were applied for fatigue analysis to find out the most prone with fatigue failure of the site,and the design optimization to improve the performance. By comparing the analysis chart before and after optimization,it was obvious that fatigue life is significantly improved. Powerful function including modelling and analysis and verification based on simulation software improved design of product efficiently.

关 键 词：码垛机器人 应力分析 疲劳分析 优化设计 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]