基于MG400的机械臂力学及运动性能分析与仿真研究  

Mechanical and Motion Performance Analysis and Simulation Research of a Mechanical Arm Based on MG400

作　　者：李帅[1] 慕丽[1] 付靖凯 LI Shuai;MU Li;FU Jingkai(School of Mechanical Engineering,Shenyang Ligong University,Shenyang,Liaoning 110159,China)

机构地区：[1]沈阳理工大学机械工程学院,辽宁沈阳110159

出　　处：《自动化应用》2023年第21期19-22,共4页Automation Application

摘　　要：本文基于越疆MG400机械臂与其示教程序进行运动控制,首先通过Solidwork建立MG400机械臂的三维模型,并将建立好的三维模型导入Adams,在Adams中添加约束、运动副和驱动;其次通过示教程序控制开展多组复位运动,并在Adams中进行模拟分析得到复位运动变化曲线;再次在示教程序中编写控制程序并在Adams中添加Step驱动程序,得到抓取运动变化曲线;然后在Adams中通过对MG400机械臂施加最大负载进行力学性能分析;最后将在Solidwork中建立好的三维模型导入Ansys-work bunch,通过Ansys对MG400机械臂进行力与形变的分析。本文采用多软件联合仿真与测试的方法从力与运动的角度校核和评估MG400机械臂的承载能力、运动平稳性,为机器人、机械臂的力学性能校验提出了一套新的检验标准。This study is based on the motion control of the Yuejiang MG400 robotic arm and its teaching program.Firstly,a 3D model of the MG400 robotic arm is established through Solidwork,and the established 3D model is imported into Adams,where constraints,motion pairs,and drivers are added,Secondly,multiple sets of reset movements were controlled through a teaching program and simulated in Adams to obtain the change curve of the reset movement.Write a control program in the teaching program and add a step driver program in Adams to obtain the grasping motion change curve.Then,perform mechanical performance analysis on the MG400 robotic arm under maximum load in Adams.Finally,import the 3D model established in Solidwork into Ansys-work bunch,and perform force and deformation analysis on MG400 robotic arm through Ansys.The method of multi software joint simulation and testing was used to verify and evaluate the load-bearing capacity and motion stability of the MG400 robotic arm from the perspective of force and motion.A new set of inspection standards has been proposed for the mechanical performance verification of robots and robotic arms.

关 键 词：机械臂检验 力学分析 校验 建模 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]