含间隙可控式码垛机器人强度与模态分析  

Strength and Modal Analysis of A Controllable Mechanism Type Palletizing Robot With Joint Clearance

作　　者：唐俊杰 晏紫琦 蔡敢为[1] 徐敬彭 TANG Junjie;YAN Ziqi;CAI Ganwei;XU Jingpeng(College of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院

出　　处：《机械设计与研究》2019年第4期11-14,共4页Machine Design And Research

基　　金：国家自然科学基金(51765005;51365004);广西自然科学基金(2014GXNSFDA118033)资助项目

摘　　要：根据串联式机器人承载能力和工作精度不足的局限性,以可控机构的理念为基础,设计出一种新型可控式码垛机器人。考虑受力变化频繁关节处的运动副间隙,分别建立理想模型和含间隙模型。以有限元分析软件ANSYS Workbench为基础,通过静力学计算,得到运动副间隙对应力应变的影响;通过模态计算,求解运动副间隙对机构固有频率、最大变形量以及振动发散趋势的影响。根据以上分析,提出优化措施,用以改善含间隙机器人的动力特性。To improve the bearing capacity and working accuracy of the robot with series structure,a controllable mechanism type palletizing robot is designed. The joints that load changed frequently are considered as imperfect and the models with clearance or not are established. Based on the finite element analysis software of ANSYS Workbench, the influence of the joint clearance on the stress and strain is obtained by static calculation;the influence of the joint clearance on the natural frequency,maximum deformation and vibration divergence of the mechanism is solved by modal calculation. Based on the above analysis,optimization measures are proposed to improve the dynamic properties of the robot with joint clearance.

关 键 词：可控机构 码垛机器人 运动副间隙 应力应变 模态分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]