高精度四轴自动搬运机器人实验平台的设计与分析  

Design and Analysis of Experimental Platform for High Precision Four-axis Automatic Handling Robot

作　　者：陈修龙[1] 李劲文 盛永超 CHEN Xiulong;LI Jingwen;SHENG Yongchao(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,Shandong,China)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《实验室研究与探索》2020年第6期74-77,共4页Research and Exploration In Laboratory

基　　金：山东科技大学优秀教学团队建设计划资助项目(JXTD20180502);山东省重点研发计划(公益类)科技攻关项目(2019GGX104011)。

摘　　要：高精度搬运机器人能够完成高速高精度码垛、搬运、上下料等任务,适用于3C、食品饮料等多个行业。设计了一种末端有效载荷为15 kg的高精度四轴自动搬运机器人。首先利用Solidworks软件对机器人的3维构型进行建模,运用Adams软件对建好的机器人3维模型进行动力学与运动学仿真。依据关节力矩的仿真数据,对电动机的类型及型号进行选择并对初始模型进行尺寸优化。最后,用Ansys软件对高精度搬运机器人的关键零部件进行强度和刚度校核,保证机构工作过程中的安全性和稳定性。The high-precision handling robot can complete high-speed and high-precision palletizing,handling,loading and unloading tasks,suitable for 3C,food and beverage industries. In this paper,a high precision four-axis automatic handling robot with a terminal payload of 15 kg is designed. Firstly,Solidworks is used to model the 3-dimensional configuration of the robot,and Adams is used to simulate the dynamics and kinematics of the built three-dimensional model of the robot. According to the simulation data of joint moment,the type and model of motor are selected and the size of the initial model is optimized. Finally,Ansys is used to check the strength and stiffness of the key parts of the high-precision handling robot to ensure the safety and stability of the mechanism in the working process.

关 键 词：四轴搬运机器人 3维建模 ADAMS仿真 ANSYS有限元分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]