恒温无尘车间中重载运输机械臂的设计  

Designing Heavy-duty Transportation Manipulator in Dustless and Constant Temperature Workshop

作　　者：吴斌方[1] 李萍[1] 张耀 刘默耘 陈水胜[1] Wu Binfang;Li Ping;Zhang Yao;Liu Moyun;Chen Shuisheng(School of Mechanical Engineering,Hubei University of Technology,Wuhan 430068,China;School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]湖北工业大学机械工程学院,武汉430068 [2]华中科技大学机械科学与工程学院,武汉430074

出　　处：《机械科学与技术》2020年第9期1373-1378,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：湖北省科技支撑计划项目(2014BAA06);大学生创新创业训练项目(201710500038)资助。

摘　　要：针对某企业将开放式车间升级为封闭式恒温无尘化车间,设计了一种用于恒温无尘车间的大型棒料重载运输机械臂,满足棒料运输的准确性及运行稳定性要求。首先,利用SolidWorks和ADAMS软件构造虚拟样机,其次,通过建立刚柔耦合模型并仿真,以确认模型的有效性,并获得应力和变形云图;最后,对机械臂进行结构轻量化设计,减轻其质量,并促使其运转更加灵活流畅。仿真结果表明,优化后的重载机械臂最大变形由0.532 mm降至0.409 mm,最大应力由480.33 MPa降至237.67 MPa,降幅高达50.5%,A级机械臂减重7.6%。To upgrade a workshop from open to closed constant temperature and to be dust-free,a large heavy-duty bar material transportation manipulator is designed for highly accurate and stable transportation.Firstly,the computer simulation is conducted with SolidWorks and ADAMS software.Secondly,a rigid-flexible coupling model is established and simulated to confirm the validity of the model and obtain the stress and deformation cloud maps.Finally,the manipulator is optimized with a lightweight design to reduce its weight,making it more flexible and smooth.The simulation results show that the maximum deformation of the optimized manipulator decreases from 0.532 mm to 0.409 mm and that its maximum stress decreases from 480.33 MPa to 237.67 MPa,decreasing by 50.5%.The weight reduction of the optimized A-level manipulator is 7.6%.

关 键 词：重载运输机械臂 虚拟样机 结构轻量化设计 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]