6轴上下料机器人实验平台的设计分析  

Design and analysis of 6-axis loading and unloading robot

作　　者：陈修龙[1] 周博洋 孙成浩 CHEN Xiulong;ZHOU Boyang;SUN Chenghao(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,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：《实验室科学》2021年第5期53-57,62,共6页Laboratory Science

基　　金：山东科技大学优秀教学团队建设计划资助(项目编号:JXTD20180502)。

摘　　要：与传统的人工搬运相比,6轴上下料机器人具有上下料速度快,误差小,反应灵敏等特点,具有良好的应用前景,因此对一款6轴上下料机器人实验平台进行了设计分析。首先确定了机械结构,利用Solid-Works软件建立三维模型,然后利用Adams进行运动学和动力学仿真。依据仿真结果选择电机及其相应配件,并对初期建模进行优化。最后使用ANSYS Workbench对机构重要部件进行有限元分析,校核重要构件强度,确保其实际运转时所产生变形和所受应力均处于许可范围内,保证机构在实际运行中的安全和稳定。Compared with the traditional manual handling,the 6-axis feeding robot has the characteristics of fast feeding and unloading speed,small error and sensitive response,and has good development prospects.Therefore,a 6-axis loading and unloading robot experimental platform is designed and analyzed.Firstly,the mechanical structure is determined,the three-dimensional model is established by SolidWorks software,and then kinematics and dynamics simulation are carried out by Adams.According to the simulation results,the motor and its corresponding accessories are selected,and the initial modeling is optimized.Finally,ANSYS Workbench is used to carry out finite element analysis of the important parts of the mechanism,verify the strength of the important components,ensure that the deformation and stress caused by the actual operation are within the allowable range,so as to ensure the safety and stability of the mechanism in actual operation.

关 键 词：6轴上下料机器人 机构设计 ADAMS仿真 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]