基于ANSYS Workbench的焊接机器人的性能分析  

Performance analysis of welding robot based on ANSYS Workbench

作　　者：李世杰[1] 郑培飞 温帅 马金艳 LI Shijie;ZHENG Peifei;WEN Shuai;MA Jinyan(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China;Ningbo Cheong Robot SystemsCo Ltd,Yuyao 315400,Zhejiang,China)

机构地区：[1]河北工业大学机械工程学院,天津300130 [2]宁波智畅机器人系统有限公司,浙江余姚315400

出　　处：《河北工业大学学报》2019年第4期30-35,共6页Journal of Hebei University of Technology

摘　　要：对ABB公司2600ID焊接机器人进行研究,分析其结构性能以便为其之后的结构改进提供重要的数据依据。采用ANSYS对研究的焊接机器人简化模型进行结构静力学分析,得到机器人工作时的薄弱环节。然后针对薄弱环节进行结构动力学模态分析,得到其前6阶振型云图,分析它的固有频率和各阶的振动型态,确定其工作时产生的振动变形。基于此对薄弱环节进行谐响应分析,确定其在工作过程中具体的变形以及应力变化情况。利用ANSYS对机器人的分析结果可以很好的指导机器人的工作并减少对机器人产生的危害,同时为结构的改进提供重要的数据依据。This paper studies ABB’s 2600 ID welding robot and analyzes its structural performance in order to provide an important data basis for its subsequent structural improvement. ANSYS is used to analyze the simplified model of the welding robot, and the weak link of the robot is obtained. Then, the structural dynamics of the weak link is analyzed, and the first 6-order mode cloud is obtained. The natural frequency and the vibration patterns of each stage are analyzed to determine the vibration and deformation during operation. Based on this analysis of the weak links harmonic response to determine the specific deformation in the course of their work and stress changes.Using ANSYS to analyze the results of the robot can guide the work of the robot and reduce the harm caused by the robot, and provide important data basis for further improvement of the structure.

关 键 词：焊接机器人 ANSYS 静力学分析 模态分析 谐响应分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]