线性直角运动机器人结构分析及优化  

Structure analysis and optimization of linear right angle motion robot

作　　者：吴立波[1] WU Libo(Department of Mechanical and Electrical Engineering,Handan Polytechnic College,Handan 056001,China)

机构地区：[1]邯郸职业技术学院机电工程系,邯郸056001

出　　处：《现代制造工程》2021年第9期24-27,32,共5页Modern Manufacturing Engineering

基　　金：河北省2020年度高层次人才资助项目(A202001115);河北省青年基金项目(SQ182022);河北省2017年高等学校创新创业教育教学改革研究与实践项目(2017CXCY)。

摘　　要：针对车间多工位间的物品输送,提出了线性直角运动机器人方案。该机器人通过上、下2套底盘交错运动实现横向和纵向行驶,为现代无人工厂提供了一种高效的输送方案。通过在横向和纵向2种运动状态下对底盘的受力分析和有限元计算,预测上底盘受力和变形情况,优化了机器人结构。通过制作实验样机,建立实验模拟场地,在不同速度和承载力下进行了3次运行测试,得出了承载能力、运行速度和定位精度的关系,验证了机器人结构优化的合理性,论证了该机器人技术方案的可行性。In order to solve the problem of multi-station cargo transport,a linear right angle motion robot scheme was presented.The robot can travel transversely and longitudinally through the staggered motion of the upper and lower chassis,which provides an efficient conveying scheme for modern unmanned factories.Through the force analysis and finite element calculation of the chassis in the transverse and longitudinal motion states,the force and deformation of the upper chassis were predicted,and the structure was optimized.Through the manufacture of experimental prototype,the establishment of experimental simulation site,and the three running tests at different speeds and bearing capacities,the relationship between bearing capacity,running speed and location accuracy was found out.It is verified that the structure optimization is reasonable and the technical scheme of the robot is feasible.

关 键 词：线性直角运动 结构优化 双底盘 横纵运动 输送机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TE973[自动化与计算机技术—控制科学与工程]