工件搬运机械手平台的结构设计与分析  

Structural Design and Analysis of Workpiece Handling Manipulator Platform

作　　者：陈修龙[1] 张昊 蔡从浩 CHEN Xiulong;ZHANG Hao;CAI Conghao(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,青岛266590

出　　处：《实验科学与技术》2022年第4期1-6,共6页Experiment Science and Technology

基　　金：山东省一流本科课程建设项目(机械设计基础)(2021-642);山东省研究生教育优质课程(SDYKC19076);山东科技大学专业学位研究生教学案例库建设项目(2020-17);山东科技大学优秀教学团队建设计划项目(JXTD20180502)。

摘　　要：为解决生产线上人工搬运工件劳动强度大、工作效率低等问题,设计了一款用于工件搬运的四自由度机械手实验教学平台,实现了机械手平台的结构设计与仿真分析。对机械手进行结构设计,利用SolidWorks软件建立各个零件的三维模型,并装配得到机械手平台;利用ADAMS软件对机械手虚拟样机进行运动学和动力学仿真,验证机械手的运行稳定性,完成电机和减速器的选型;利用ANSYS软件对机械手进行有限元分析,检验关键零件大臂的强度和刚度,得到底座的振型和频率。该研究为工件搬运四自由度机械手与此类机械手实验平台的设计制造提供了理论和方法依据。In order to solve the problems of high labor intensity and low work efficiency in manual handling of workpieces on the production line, a four degree of freedom experimental teaching manipulator platform for workpiece handling is designed, and the structure design and simulation analysis of the manipulator platform are realized. The structure of the manipulator is designed, the three-dimensional models of each parts are established by using SolidWorks software, and the manipulator platform is assembled. The kinematics and dynamics of the virtual prototype of the manipulator are simulated by using ADAMS software to verify the operation stability of the manipulator and complete the selection of the motor and reducer. Using ANSYS software to carry out finite element analysis of the manipulator, check the strength and stiffness of the key part—the boom, and get the vibration mode and frequency of the base. The research provides a theoretical and methodological basis for the design and manufacture of the four degree of freedom manipulator for workpiece handling and this kind of experimental manipulator platform.

关 键 词：机械手 结构设计 运动学分析 动力学分析 有限元分析 

分 类 号：TG315[金属学及工艺—金属压力加工]