参数化SCARA机器人小臂结构设计研究  

A structure design research of the parametric SCARA robot arm

作　　者：杨肖长 孟宪春[1] 康宇鹏 杨晓娜 YANG Xiaochang;MENG Xianchun;KANG Yupeng;YANG Xiaona(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：《河北工业大学学报》2018年第2期26-31,共6页Journal of Hebei University of Technology

摘　　要：为优化SCARA机器人小臂结构,提高机械性能,将有限元分析方法应用于SCARA机器人小臂结构设计.首先通过三维建模软件ProE对SCARA机器人小臂参数化建模,利用有限元分析软件对SCARA机器人小臂仿真分析.然后根据有限元分析结果以小臂主要尺寸作为输入参数,应力、应变和质量为输出参数,对SCARA机器人进行多目标优化.结果表明小臂最大应力减少20.4%,最大应变减少11.7%,质量减少6.0%.In order to optimize the structure and improve mechanical properties of SCARA robot small arm,the finite element analysis method is applied in the design of SCARA robot small arm structure.First,a 3D parametric model of SCARA robot arm is established by using 3D modeling software ProE.The finite element analysis software is used in the simulation analysis of the SCARA robot small arm.Then,according to the analysis results,main dimensions of small arm are used as input parameters,stress,strain and quality as output parameters,the result of multi-objective optimization of SCARA robot shows that maximum stress is reduced by 20.4%,maximum strain is reduced by 11.7%,quality is reduced by 6.0%.

关 键 词：PROE 有限元分析 SCARA机器人 多目标优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]