上料桁架机械手刚柔耦合运动特性研究  

Study on Rigid-Flex Coupling Kinetic Characteristics of Loading Material Truss Manipulator

作　　者：李健洪 马平[1] 刘杰 廖能解 赵虎 LI Jianhong;MA Ping;LIU Jie;LIAO Nengjie;ZHAO Hu(School of Electromechanical Engineering,Guangdong University of Technology,Guangzhou Guangdong 510006,China;Guangzhou Minjia Manufacturing Technology Co.,Ltd.,Guangzhou Guangdong 511453,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511453

出　　处：《机床与液压》2019年第23期11-16,共6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：为保证桁架机械手在高速及大行程工作范围中满足高精度、稳定可靠及大承载性能要求,采用刚柔耦合动力学分析方法对其运动特性进行分析。在桁架机械手的基本结构及工作流程的基础上,通过SolidWorks-RecurDyn平台建立多刚体动力学模型,利用Hertz理论计算齿轮齿条啮合刚度以及滑块导轨接触刚度来保证模型建立的准确性。并利用RecurDyn-ANSYS完成横梁(RFlex)及滑台(FFlex)的柔性体建模工作,最终建立桁架机械手刚柔耦合动力学模型。通过对桁架机械手刚柔耦合运动特性分析,研究关键部件柔性化对桁架机械手末端执行器运动精度的影响,通过仿真发现运动过程中等效质量块质心的实际轨迹与理想轨迹在X、Y、Z方向的差值分别为±0.06、±0.72、±0.06 mm,以此评定其运动精度为±0.72 mm,不满足±0.2 mm的技术要求。因此,采用加固结构方法,通过对横梁横截面进行改进。结构改进后的运动精度为±0.17 mm,满足了技术要求。In order to ensure the truss manipulator to meet the requirements of high precision,stability,reliability and large load carrying capacity in the process of high speed and large stroke,the kinetic characteristics are analyzed by the method of rigid-flexible coupling dynamics.Based on the basic structure and working flow of the truss manipulator,a rigid multibody dynamic model was established with SolidWorks-RecurDyn platform,then the contact stiffness of the gear rack and meshing rigidity of ball linear guide rail pair was also estimated with Hertz theory to ensure the accuracy of the model.Moreover,the flexible bodies of beam(RFlex)and sliding platform(FFlex)were built with RecurDyn-ANSYS,the rigid-flexible coupling dynamics model of truss manipulator eventually was established.Through the analysis of the rigid-flexible coupling kinetic characteristics,the influence of the flexibility of key components on the motion precision of the truss manipulator s end-effector was studied,and the difference between the actual trajectory and the ideal trajectory of the equivalent mass center in the X,Y and Z direction were measured as±0.06,±0.72,and±0.06 mm,which can reveal that the motion precision is±0.72 mm,which can not meet the technical requirement of±0.02 mm.Therefore,the reinforcement method is adopted to improve the cross section of beam.After the structural improvement,the motion precision is±0.17 mm which meets the technical requirement.

关 键 词：桁架机械手 刚柔耦合 柔性体 运动特性 运动精度 结构改进 

分 类 号：TH113.22[机械工程—机械设计及理论] TP241.2[自动化与计算机技术—检测技术与自动化装置]