六自由度工业机器人的模态仿真与实验  

Simulation and Experiment for the Model of 6-DOF Industrial Robot

作　　者：李世杰[1] 李飞[1] 马建龙[1] 郑培飞 LI Shi-jie;LI Fei;MA Jian-long;ZHENG Pei-fei(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China)

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《机械设计与制造》2018年第12期157-159,163,共4页Machinery Design & Manufacture

摘　　要：基于Solidworks和ANSYS Workbench软件,对六自由度关节型工业机器人典型姿态进行三维建模及有预应力的模态仿真分析,得到了工业机器人前5阶固有特性参数及其相关振动薄弱部位;运用锤击实验对工业机器人进行模态分析实验,测取了其阻尼情况,同时确保了该仿真分析的可靠性。该方法以模态仿真为前提,模态实验为补充,获得了机器人在典型姿态下的相关模态特性,改善了工业机器人模态参数测取繁琐的问题。其仿真与实验的结果为工业机器人的优化设计与性能改进提供了有效的参考依据。Taking 6-DOF industrial robot as example ,the 3D model of the robot was established in Solidworks environment, the prestressed mode simulation was analyzed by ANSYS Workbench software, after which the first five inherent characteristic parameters of robot were gained and the related vibrating weak positions were found, Finally, the hammer hitting experiment obtains the damping ratio and shows that the mode simulation is right and credible . This method on the premise of modal simulation and modal experiment as complement, to obtain the modal characteristics under typical posture of industrial robot and improve the cumbersome problems of the modal parameter measurement. The result of simulation and experiment provides referential basis for the further structural optimization and performance improvement of the industrial robot.

关 键 词：ANSYS WORKBENCH 工业机器人 模态分析 

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]