六轴焊接机器人静态分析与优化  

Static Analysis and Optimization of Six Axis Welding Robot

作　　者：魏雅君[1,2] 朱豪磊 黄碧霞[1] 王林威 陈佳赓[1] 张伟鸿 

机构地区：[1]厦门大学嘉庚学院机电工程系,漳州363105 [2]厦门大学嘉庚学院嘉庚-微柏工业机器人创新试验室,漳州363105

出　　处：《现代制造技术与装备》2017年第10期107-109,共3页Modern Manufacturing Technology and Equipment

基　　金：福建省中青年教师教育科研项目(JAT170840)

摘　　要：为了研究六轴焊接机器人的静态特征与其结构设计的优化,应用SoildWorks软件简化模型,运用ADAMS对六轴焊接机器人进行运动仿真,得到了电机与减速器的转矩、转速等数据。本文将仿真数据与试验数据相比较,校核电机与减速器。通过数据分析表明,第6轴电机和减速器有较大的工作裕度,可以根据需求重新选型。之后基于ANSYS Workbench软件对机器人主要零件做有限元分析,最终给出优化方案,为机器人结构设计提供重要的参考依据。In order to study the static characteristics and structural design optimization of six axis welding robot, SoildWorks software is used to simplify the model. Then ADAMS is used to simulate the movement of the six axis welding robot, and the torque and rotation speed of the motor and the reducer are obtained. This paper compares the simulation data with the experimental data and checks the motor and reducer. The data analysis shows that the sixth axle motor and reducer have greater working margin, so they can be re selected according to the demand. Then the finite element analysis of the main parts of the robot is carried out based on ANSYS Workbench software, and finally the optimization scheme is given, which provides an important reference for the robot structure design.

关 键 词：有限元 机器人 静态分析 结构优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]