一种上下料机器人的静力学仿真与整机模态分析  

Statics Simulation and Whole Machine Modal Analysis of Loading and Unloading Robot

作　　者：杨鹏[1] YANG Peng(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《机械工程与自动化》2022年第5期96-98,共3页Mechanical Engineering & Automation

摘　　要：以用于冲压机床加工件上下料过程的一种四自由度上下料机器人为研究对象,通过SolidWorks软件建立机器人的三维模型,并结合机器人的实际工作特征,利用ANSYS软件对机器人机械臂进行受力最大情况下的静力学分析以及处于水平位姿、竖直位姿、收拢状态三种典型姿态的前10阶模态分析。仿真结果表明:机械臂大臂与小臂的强度和刚度均在允许范围内,符合设计要求;在工作中需要避开低阶频率或者对机器人整体结构进行刚性加强处理。A four degree of freedom loading and unloading robot used in the loading and unloading process of stamping machine parts is taken as the research object. In this paper, the three-dimensional model of the robot is established by SolidWorks software, and combined with the actual working characteristics of the robot, the static analysis of the position where the robot is in the most unfavorable state of force is carried out by using the ANSYS software, and the first ten order modal analysis of the three typical postures of the robot in the horizontal position, vertical position and retracted state. The simulation results show that the strength and stiffness of the boom and jib are within the allowable range and meet the design requirements. And in the work, it is necessary to avoid low-order frequency or strengthen the rigidity of the overall structure of the robot.

关 键 词：上下料机器人 静力学分析 模态分析 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]