摘要
为了研究SCARA机器人的结构和动态特性,应用SolidWorks软件对SCARA机器人建立了三维模型并导入ANSYS中进行了分析。对SCARA机器人进行了静力学分析,结果证明:该机器人能够满足在冲击载荷作用时的定位精度要求和强度要求;通过对SCARA机器人的模态分析,得到其前8阶的固有频率和结构振型,分析数据表明:该机器人满足工作要求;为了了解各阶频率对SCARA机器人动态载荷的响应情况,对SCARA机器人进行了谐响应分析,得到SCARA机器人的谐响应变化曲线,结果表明,SCARA机器人的第7阶固有频率对其动态性能影响最大。通过分析数据,为SCARA机器人的改进和今后的结构设计提供了依据。
In order to study the structure and the dynamic characteristic of the SCARA robot, the three dimensional （3D） model of the SCARA Robot is established by using SolidWorks software and is analyzed by ANSYS. The static analysis of the SCARA robot was carried out, the results show that the robot can satisfy the positioning accuracy and strength requirement of the impact loading. Through the modal analysis, the first eight order natural frequency and vibration mode structure were presented, and the analysis of data shows that satisfied the job requirements. In order to know every order frequency response of SCARA robot dynamic load, the har- monic response analysis was carried out, and the harmonic response changing curve of SCARA robot was obtained. The results show that the seventh order natural frequency of the SCARA robot has the biggest impact on the dynamic performance. A basis is provided for the improvement of SCARA robot and the structural design by the analysis of data in future.
出处
《机床与液压》
北大核心
2017年第21期35-38,72,共5页
Machine Tool & Hydraulics
基金
山东省自然科学基金资助项目(ZR2014EEM021)
山东省高等学校科技计划资助项目(J15LB55)
