基于螺旋理论的机器人工作空间与有限元分析  

Robot Workspace and Finite Element Analysis Based on Spiral Theory

作　　者：张文明 高猛 周文超 Zhang Wenming;Gao Meng;Zhou Wenchao

机构地区：[1]中国第一汽车集团有限公司研发总院仿真中心

出　　处：《工程机械》2025年第3期76-82,I0004,共8页Construction Machinery and Equipment

摘　　要：开发出一种可完成建筑领域大型构件吊装和安装等任务的灵活安装机器人,用以承担结构件的装配工作。为准确评估机器人的工作能力,以螺旋理论为基础,通过指数积方程对机械臂进行运动学建模,得到机械臂的运动学方程,并求解机械臂的工作空间。对机械臂模型进行网格划分,利用Workbench模块对机械臂模型进行求解,评估机器人的刚度性能,为机械臂的结构优化,以及机器人在抓取、安装等作业工况下的负载能力优化提供依据。A flexible installation robot that can perform tasks such as lifting and installing large structural parts in the construction field is developed to undertake the assembly of structural parts.To accurately evaluate the capability of the robot,based on spiral theory,kinematic modelling of the robotic arm is carried out through exponential product equation to obtain the kinematic equation of the robotic arm,and the workspace of the robotic arm is solved.The robotic arm model is meshed,and the Workbench module is used to solve the robotic arm model to evaluate the stiffness performance of the robot,which provides a basis for the structural optimization of the robotic arm and the optimization of the load capacity of the robot under the operational conditions such as gripping and installation.

关 键 词：负载能力 工作空间 螺旋理论 有限元分析 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]