上下料桁架机器人仿真研究  

Simulation Study on Loading and Unloading Material Truss Robot

作　　者：廖能解 马平[1] 李健洪 王龙轩 LIAO Nengjie;MA Ping;LI Jianhong;WANG Longxuan(Faculty of Electrical and Mechanical Engineering,Guangdong University of Technology,Guangzhou Guangdong 510006,China;Guangzhou Minjia Manufacturing Technology Co.,Ltd.,Guangzhou Guangdong 510000,China)

机构地区：[1]广东工业大学机电工程学院,广东广州510006 [2]广州市敏嘉制造技术有限公司,广东广州510000

出　　处：《机床与液压》2019年第21期9-14,33,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(50775043);粤港关键领域重点突破项目(TC08BE33-2)

摘　　要：基于SolidWorks-Workbench平台,通过SolidWorks建立桁架机器人三维实体模型,利用Workbench对桁架机器人的两种典型工况进行静力学分析,并在此基础上对桁架机器人进行模态分析,提取出桁架机器人的固有频率和振型,从而可通过调节机器人的运行速度来使其激振频率尽量远离结构的固有频率而避免发生共振。仿真结果表明:典型工况一的最大变形量为0.69 mm,典型工况二的最大变形量为0.26 mm,两种典型工况的最大变形量均满足在1 mm以内的工程技术要求,且桁架机器人的最大应力值为36.52 MPa,远小于许用应力220 MPa,因此桁架机器人均满足刚度、强度要求。同时对桁架机器人最危险位姿进行疲劳寿命分析,研究表明其最小寿命为1500万次,即持续工作时间约为7.1年,超过5年的设计使用寿命。通过对上下料桁架机器人两种典型工况进行FEA分析,验证了桁架机器人的动静态特性的合理性,为这类产品的结构设计和疲劳优化设计提供了理论参考。Based on SolidWorks-Workbench platform,firstly by SolidWorks,truss robot three-dimensional(3 D)entity model is established,and then the Workbench is used to truss robot statics analysis of two typical working conditions.On the basis of modal analysis was carried out on the truss robot,extracting the natural frequency and vibration mode of the truss robot,which could be adjusted by the robot’s speed to distance themselves from the structure natural frequency and excitation frequency to avoid resonance.The simulation results show that the maximum deformation of the first typical working condition is 0.69 mm,and the maximum deformation of the second typical working condition is 0.26 mm,two kinds of typical working condition of the maximum deformation can satisfy the requirements of engineering technology within 1 mm,and the maximum stress value of the truss robot is 36.52 MPa,far less than the allowable stress is 220 MPa,so truss machines per capita satisfies the requirement of stiffness and strength.At the same time,the fatigue life of the most dangerous pose of the truss robot is analyzed,and the research shows that its minimum life is 15 million times,that is,the continuous working time is about 7.1 years,and the design service life of the truss robot is over 5 years.Through the Finite Element Analysis(FEA)analysis on working condition of two typical loading and unloading material truss robot,the rationality of the dynamic and static characteristic of the truss robot is validated,and for this kind of product structure design and optimize the design of fatigue,theory reference is provided.

关 键 词：桁架机器人 静力学分析 模态分析 疲劳寿命 FEA 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TG659[自动化与计算机技术—控制科学与工程]