轴承环抓取机器人的运动与受力分析  

Dynamic and stress analysis of the bearing ring transferring robot

作　　者：田国富[1] 林梓正 TIAN Guofu;LIN Zizheng

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870

出　　处：《现代机械》2021年第4期13-17,共5页Modern Machinery

基　　金：辽宁省教育厅服务地方项目(LFGD2020006):复杂曲面工件的在机特征识别与自动磨削编程技术。

摘　　要：针对工作室自主研发的轴承环抓取机器人,使用D-H法进行数学模型的建立,对机器人进行动力学分析以及应力分析。首先使用SolidWorks将已有的机器人三维模型进行简化,然后对于机器人的工作路径以及运行速度,加速度关节角度进行规划。将模型导入ADAMS中进行运动学以及动力学的分析,取得机器人在之前所设计的工况下的受力、力矩等情况。将所获得的边界条件记录,并使用ABAQUS对机器人的大臂进行单独的受力分析。所得的应力图与位移图能够显示出机器人满足了工作的要求,在验证了机器人的合理性的同时,对其后期优化提供了依据。Taking the bearing ring transferring robot independently developed by the studio as the research object,the D-H method was used to establish the mathematical model,and the dynamic analysis and stress analysis of the robot were carried out.Firstly,SolidWorks was used to simplify the existing 3D model of the robot,and then the working path,running speed and acceleration joint angle of the robot were planned.The model was imported into ADAMS for kinematics and dynamics analysis to obtain the stress,torque and other data of the robot under the previously designed working conditions.The obtained boundary conditions were recorded,and ABAQUS was used to conduct a separate stress analysis of the robot’s large arm.The stress diagram and the displacement diagram obtained showed that the robot met the requirements of the task,which not only verified the rationality of the robot,but also provided basis for later optimization of the robot.

关 键 词：工业机器人 D-H法 动力学分析 受力分析 ABAQUS 

分 类 号：TH133.3[机械工程—机械制造及自动化] O313.7[理学—一般力学与力学基础]