SCARA机械臂造型评估及优化方法研究  

Research on the Evaluation and Optimization Method of the SCARA Robot Shape

作　　者：李卓[1] 谢谦 陈则澜 

机构地区：[1]武汉理工大学艺术与设计学院

出　　处：《包装与设计》2024年第2期140-141,共2页Package & Design

基　　金：湖北省重点研发计划项目(2022BAA071);湖北省高等学校省级教学研究项目(2022122);武汉理工大学重点教学研究项目(w2022044)。

摘　　要：目的:探索在设计前期针对SCARA机械臂造型进行评估及优化的方法,以有效缩短SCARA机械臂的开发周期.方法:运用造型设计软件构建三种SCARA机械臂造型方案,通过NX Nastran对方案进行力学及模态分析,求得各方案的顶端位移量、结构最大应力值及低阶固有频率等,运用比率法思维推导计算公式,对方案进行评估.通过方差分析法的F检验,分析方案薄弱环节的影响因素,并对最终方案进行优化,完成SCARA机械臂的设计.结果:综合数据评估表可知方案Ⅰ最优.根据方差分析结果,壁厚对顶端位移的影响具有显著性,以此对方案Ⅰ的壁厚进行优化并重新评估,方案有了明显优化.结论:方案Ⅰ的力学优越性表明评估结果较为合理,优化后的造型方案分析结果侧面验证了评估及优化的合理性,表明本研究方法具有一定的可行性.Objective:This paper aims to explore a method for evaluating and optimizing the shape of the SCARA robot in the early stage,so as to effectively shorten the development cycle of SCARA robots.Method:Three schemes of SCARA robot shape are constructed through the modeling software.The mechanical and modal analysis of the schemes is carried out by NX Nastran,and the apical displacement,maximum stress value of the structure and low-order natural frequency of each scheme are obtained.The schemes are evaluated respectively by the calculation formula derived from the proportional method.Through the F-test of ANOVA,the influencing factors of the weak links of the scheme are analyzed,and the final scheme is optimized to complete the design of the SCARA robot.Result:The comprehensive data evaluation shows that SchemeⅠis optimal.According to the results of ANOVA,the effect of wall thickness on the apical displacement is significant,so the wall thickness of SchemeⅠis optimized and re-evaluated.Conclusion:The mechanical superiority of SchemeⅠindicates that the evaluation results are reasonable,and the results of the optimized modeling scheme verify the rationality of the evaluation and optimization,which proves that the method has certain feasibility.

关 键 词：SCARA机械臂 有限元分析 方差分析 造型评估 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]