摘要
腰关节是机器人的基础,它支撑着大臂和小臂上的各运动部件,机器人末端执行器与腰转部件间的距离最大,腰转部件的惯性负载也最大。针对腰关节的结构特点和性能要求,采用基于Pro/E的三维建模和基于ANSYS的结构性能分析相结合的方法,对自主研发的工业机器人腰关节进行了结构静力分析和模态分析,对解决产品结构性能设计中存在的问题、缩短产品设计周期具有指导意义,改变了传统工业机器人设计方面的局限性,一定程度上丰富了工业机器人的设计方法。
Waist joint is the basis of the robot,which supports arms and moving parts on the arms.Because the distance between the robot end and the waist is the maximum,the inertial load applied to the waist is the largest.According to the characteristics of waist joint＇s structure and the requirements of its function,this paper aims to give you a description of our self-developed industrial robot on structural analysis and modal analysis through cooperation between 3D modeling based on Pro/E and analysis of the ANSYS structure and function.This research would make contributions to solving the problems in the product＇s structure and function design and shortening the design period of the product.What＇ s more,it makes a breakthrough comparing to the traditional robot design and also enriches the way of industrial robot design.
出处
《工具技术》
2012年第4期56-60,共5页
Tool Engineering
基金
江苏省科技支撑计划项目(BE2011098)
