基于Solidworks的重载机器人肩部的建模与静态分析  

Modeling and static analysis of the shoulder of a heavy-duty robot based on Solidworks

作　　者：孙吴松[1] SUN Wusong(School of Automotive and Mechanical&Electrical Engineering,Lu′an Vocational Technical College,Lu′an Anhui 237158)

机构地区：[1]六安职业技术学院汽车与机电工程学院,安徽六安237158

出　　处：《宁夏师范学院学报》2024年第1期46-53,共8页Journal of Ningxia Normal University

基　　金：安徽省高等学校科学研究项目(2023AH05325).

摘　　要：为了提高机器人的肩部有效控制能力,设计了一个165 kg重载6自由度机器人肩关节.通过设计一个谐波减速器和一对直齿齿轮以降低转速和提升转矩,利用齿轮与轴的配合完成肩关节在平面内的旋转.选择110AEA12020-SH3交流伺服电机、SHG-45-100谐波减速器以及6011和6016深沟球轴承进行肩部旋转关节旋转方案的设计,并利用有限元法对传动系统主要部件的静力学强度进行分析.结果表明,该肩部旋转关节旋转方案设计合理,轴承与齿轮的静力学性能满足实际应用需求.To improve the effective control ability of the robot's shoulders,a 165 kg heavy-duty six degree of freedom robot shoulder joint is designed.By designing a harmonic reducer and a pair of spur gears to reduce speed and increase torque,the rotation of the shoulder joint in the plane is achieved through the coordination between the gear and the shaft.The design of shoulder rotation joint rotation scheme using selecting a 110AEA12020-SH3 AC servo motor,and a SHG-45-100 harmonic reducer and a 6011 and 6016 deep groove ball bearings.The static strength of the main components of the transmission system was analyzed by using the Finite Element Method.The results indicate that the design of the shoulder rotation joint rotation scheme is reasonable,and the static performance of the bearings and gears meets the practical application requirements.

关 键 词：机器人肩关节 传动系统 齿轮 轴 有限元分析 

分 类 号：TM304[电气工程—电机]