运用SolidWorks与ANSYS的仿人机械臂设计与分析  

Design and Analysis of Humanoid Manipulator Based on SolidWorks and ANSYS

作　　者：王春荣[1] 夏尔冬[1] 高浩[1] 刘建军[1] 熊昌炯[1] 张亚婷 WANG Chun-rong;XIA Er-dong;GAO Hao;LIU jian-jun;XIONG Chang-jiong;ZHANG Ya-ting(School of Mechanical&Electronic Engineering,Sanming University,Sanming 365004,China)

机构地区：[1]三明学院机电工程学院,福建三明365004

出　　处：《三明学院学报》2020年第2期52-57,共6页Journal of Sanming University

基　　金：福建省自然科学基金项目(2018J01513);三明市引导性科技项目(2019-G-9);福建省引导性项目(2016N0029);三明学院科学研究发展基金暨福建省中青年教师教育科研项目(B201810,JT180499);福建省高校青年基金重点项目(JZ160475)。

摘　　要：为提高机械臂的灵活性,设计了一款与人臂相似的仿人机械臂。首先,利用SolidWorks建立仿人机械臂的三维模型,包含机架、大臂、小臂、手掌等;然后,分析了仿人机械臂在极限位置抓取10 kg物体时各个关键关节的受力情况,为各个关节电机的选型提供依据;最后,根据受力分析结果,利用ANSYS对仿人机械臂进行静力学分析与优化设计分析。结果表明,该机械臂设计合理,且优化后其质量减少了15.9%,提高了灵活性。In order to improve the flexibility of the manipulator, a humanoid manipulator is designed. The 3 d model of humanoid manipulator is built based on SolidWorks, including the frame, the big arm, the small arm and the palm. The force of each key joint when the humanoid manipulator grabs a 10 kg object at the limit position is analyzed, which provides a reference for the selection of each joint motor. Finally, according to the force analysis results, the static analysis and optimal design analysis of the humanoid manipulator are performed by ANSYS. The results show that the design of the manipulator is reasonable, and the optimized mass is reduced by 15.9%, which improves the flexibility of the manipulator.

关 键 词：仿人机械臂 SOLIDWORKS ANSYS 优化分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]