SCARA机械臂小臂仿生筋板结构设计研究  

Research and Design of Bionic Stiffened Plate Structure of SCARA Mechanical Arm

作　　者：曹源文[1] 杨雪[1] 王建文[1] 周华[1] CAO Yuanwen;YANG Xue;WANG Jianwen;ZHOU Hua(School of Meehanotronies ＆ Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074,China)

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074

出　　处：《机床与液压》2018年第15期71-75,共5页Machine Tool & Hydraulics

基　　金：安徽省交通运输厅科技项目(2013SSLMJK)

摘　　要：为了进一步提高SCARA机器人小臂的刚度及达到小臂结构轻量化的目的,在研究轻质、高刚度生物体结构的基础上,通过Pro/E三维软件设计出SCARA机械臂小臂的筋板仿生结构,并运用ANSYS Workbench对小臂进行静力学分析和模态分析,得到最优的筋板仿生Ⅱ型模型。仿真结果表明:基于茎秆和叶脉的混合仿生型筋板结构比刚度效能和一阶固有频率都有所提高,静动态性能得到改善。然后利用重复定位精度、绝对定位精度与小臂刚度的关系进行了试验验证,结果显示筋板仿生Ⅱ型动静态性能有所改善。In order to further improve the rigidity of the arm of SCARA robot and achieve the purpose of lightening the structure of the arm,based on the study of the structure of lightweight and high-stiffness biological organisms,Stiffened plate bionic structure of arm of SCARA manipulator plate was designed by Pro/E,and ANSYS Workbench was used to carry out static analysis and modal analysis on the arm,then the optimal bionic stiffened plate Ⅱ model was obtained. The simulation results show that specific stiffness efficiency and first order natural frequency of the mixed bionics structure based on stems and veins is improved,and the static and dynamic performance are also improved. Then,based on the relationship between repeated positioning accuracy,absolute positioning accuracy and arm stiffness,the experimental results show that the dynamic and static perfoemance of the bionic stiffened plate Ⅱ model is improved.

关 键 词：SCARA 轻量化 刚度 筋板 仿生设计 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]