基于数值模拟技术的SCARA机器人本体设计与优化  

Design and Optimization of SCARA Robot Ontology Based on Numerical Simulation

作　　者：刘辉 毛璐瑶 陈启愉 吴智恒 唐国宝 LIU Hui;MAO Lu-yao;CHEN Qi-yu;WU Zhi-heng;TANG Guo-bao(Guangdong Institute of Intelligent Manufacturing,Guangzhou 510070,China;Guangzhou Risong Intelligent Technology Holding Co.,Ltd.,Guangzhou 510760,China)

机构地区：[1]广东省智能制造研究所,广东广州510070 [2]广州瑞松科技股份有限公司,广东广州510760

出　　处：《机电工程技术》2017年第6期1-6,共6页Mechanical & Electrical Engineering Technology

基　　金：广东省科技计划项目(编号:2014A040401062;2015A040404038;2015B010918001);广东省科学院内项目(编号:2016GDASPT-0106)20170317

摘　　要：SCARA机器人被广泛应用于制造业,要求其重量轻、精度高、刚度大、动作迅速。利用数值模拟技术对SCARA机器人进行结构和电机参数优化设计。首先利用仿真分析软件Radioss分析SCARA机器人极限载荷下的静刚度;然后利用Optistruct软件对SCARA机器人进行结构轻量化设计,根据优化结果调整SCARA机器人第一臂结构;最后利用Adams软件对优化后的SCARA机器人进行虚拟样机仿真,获得其最优的电机和减速机参数,为SCARA机器人电机选型提供依据。SCARA robots are widely used in the manufacturing industry,and light weight,high precision,stiffness,rapid action are required.The structure optimization design and motor parameter optimization of SCARA robot are carried out by numerical simulation.Firstly,the static stiffness of SCARA robot under extreme load was analyzed by Radioss simulation software.Then,lightweight design of the SCARA robot was designed with Optistruct software,and the SCARA robot was adjusted to the first arm structure according to the optimization results.Finally,the optimized prototype of SCARA robot was simulated by Adams software,and its optimal motor and reducer parameters were obtained.It provides the basis for the motor selection of SCARA robot.

关 键 词：SCARA机器人 数值模拟 结构优化 虚拟样机 参数优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH39[自动化与计算机技术—控制科学与工程]