摘要
模块化机械手在焊接过程中,运动到某些位置时出现振动幅度比较大的现象,影响了焊接的精度和质量。对模块化机械手进行动静态分析,首先利用三维软件UG NX 12.0对模块化机械手进行建模,再利用有限元分析软件ABAQUS对模块化机械手进行静力学分析和模态分析。静力学分析结果表明:模块化机械手结构的刚度和强度达到工作性能要求。动力学分析结果表明:模块化机械手第1阶固有频率(f1=30.870 Hz)和减速器输入最小的转频(29.13 r/min)很接近,容易出现共振现象。在对第6轴结构优化后进行验证分析,得出第1阶固有频率为36.033 Hz,比原来提高了16.72%,远离了减速器的输入转频,避免了共振。本研究为对模块化机械手改进提供了理论依据。
Large vibration of modular manipulator in some positions of welding process affects the precision and quality of welding.The modular manipulator is carried out static and dynamic analysis.Firstly,UG NX 12.0 is used to model the modular manipulator.Secondly,ABAQUS is used to carry out static analysis and modal analysis of the modular manipulator.The results of static analysis show that the structural stiffness and strength of the manipulator meet the requirements of working performance.The modal analysis show that the first natural frequency of the modular manipulator(f1=30.870 Hz)is very close to the input minimum frequency of reducer(29.13 r/min).It is easy to occur to resonance for the modular manipulator.The verification analysis is carried out for the optimization of the sixth axis of the modular manipulator.It shows that the first natural frequency of the modular manipulator is 36.033 Hz which 16.72%higher than the original one.It is far away from the input frequency of the reducer and avoids resonance.This study provides a theoretical basis for the improvement of modular manipulator.
作者
王文军
李福送
林伟健
WANG Wenjun;LI Fusong;LIN Weijian(College of Mechanical Engineering,Liuzhou Institute of Technology,Liuzhou 545000,China)
出处
《机械》
2021年第9期67-73,共7页
Machinery
基金
广西高校中青年教师科研基础能力提升项目(2019KY1104)。
