六自由度可移动式装运机器人设计与分析  

Design and analysis of six-degree-of-freedom mobile loading robot

作　　者：程浩杰[1] 王成军[1,2] 胡松[1] 陈金燕[1] 

机构地区：[1]安徽理工大学机械工程学院,淮南232001 [2]江苏鹏飞集团股份有限公司,海安226623

出　　处：《起重运输机械》2017年第5期38-41,共4页Hoisting and Conveying Machinery

基　　金：安徽省重大科技专项项目(16030901012)

摘　　要：为解决目前在人工装卸搬运货物过程中存在的工作强度大、工作效率低等问题,研制了一种混联结构的六自由度可移动式装运机器人,采用无线遥控方式对机器人远程控制,通过多功能末端执行器夹持不同类型物品。运用ADAMS软件对腰部调节装置进行运动仿真分析,验证了其结构设计的可行性;运用Ansys Workbench软件对底盘固定架进行模态分析和结构动态性能优化,保障底盘固定架结构的安全性;对运动执行臂进行静力学分析,优化运动执行臂的结构。分析结果为机器人的结构设计和运动控制提供了理论依据。To address problems such as heavy workloads and low efficiency in manual handling of goods at present, a six-degree-of-freedom mobile loading robot with a hybrid mechanism has been developed. The robot is remotely controlled with a wireless remote and can clamp different types of items with a multi-functional end actuator. ADAMS software is used for movement simulation analysis of lumbar adjustment unit to prove the feasibility of its structure design, Software Ansys Workbench is used for modal analysis and dynamic performance optimization of chassis bracket to ensure that the bracket is safe, Statics analysis is conducted on the work arm to optimize its structure. The analysis results provide theoretical basis for designing the robot＇s structure and controlling its movement.

关 键 词：六自由度 混联机构 装运机器人 运动学仿真 模态分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]