摘要
介绍了码垛机器人的设计原理和总体结构。利用有限元分析软件COMSOL,以模态分析为理论基础,建立了码垛机器人的有限元模型,选择了码垛机器人3种典型的位姿,并对各阶固有频率进行了分析,得出各阶固有频率下的模态振型。结果表明：各种位姿的机器人的前六阶固有频率集中在15-130 Hz之间;小臂和前后大臂是主要的动态特性影响因素,可以通过适当的增加壁厚或者提高材料的刚度来进行改进;整个机器人的固有频率较低,可以通过优化手臂平行四边形机构来提高整体结构的刚度,从而提高机器的固有频率,改善其振动特性.
The designing principle and the overall structure of the destacking-robot were presented. Based on the modal analysis theory,the finite element model（ FEM） of the robot was established by the finite element analysis software of COMSOL. Three typical pose of the robot were selected,and the natural frequency in each order was analyzed,to obtain the modal shape of it. The results show that the initial sixth order natural frequency of the robot under the there pose is centered from 15 Hz to 130 Hz. The small arm and big arm are the main influential factors of dynamic characteristic,which can be improved by suitably increasing the thickness of arm or increasing the rigidity of material. The natural frequency of overall robot is quite low,which can be improved through optimizing the parallelogram structure of arm to improve the rigidity of overall structure,and its vibration behavior is improved.
出处
《机床与液压》
北大核心
2015年第9期80-83,共4页
Machine Tool & Hydraulics
基金
长江师范学院科研资助项目(2013XJQN003)
