共查询到20条相似文献,搜索用时 125 毫秒
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针对SCARA机器人大臂,利用ANSYS Workbench软件建立有限元分析模型,并在此基础上进行结构静力分析,研究其应力、应变分布状况,分析其强度和刚度等力学性能,并通过实验测试验证,验证了仿真结果的准确性,为SCARA机器人大臂结构的优化提供理论依据。 相似文献
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针对机器人大臂机构中存在的个别构件强度不足、安全性不够,以及其它一些构件强度、刚度储备过大,造成整体结构过于笨重等问题,利用有限单元法对各构件进行变厚度分析,得到厚度与强度之间的变化曲线,并利用这些结果进行结构优化,对大臂机构中的关键构件进行改进设计,在不改变总体结构和满足强度、刚度要求的前提下,通过改变各板的厚度,调整整个装置质量的分配,得到良好的刚度、强度匹配,既保证了构件和机构整体的安全性,又提高了经济性.工程实践证明,这种技术路线是可靠的. 相似文献
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全挂式转运支架车牵引臂结构设计 总被引:1,自引:0,他引:1
针对由转运支架车与牵引车组成的全挂列车的转弯工况进行分析,计算出全挂列车在极限转弯工况下转运支架车牵引臂的受力情况。基于Abaqus有限元软件对牵引臂的极限受力工况进行结构刚度和强度计算,将计算结果与实际试验过程中牵引臂断裂问题进行对比,确定出原有牵引臂的设计缺陷。通过优化牵引臂结构,将牵引臂由原来的钢管形式变为三角形框架形式,使牵引臂根部受力情况得到改善,并对优化后的结构进行仿真计算和试验验证,结果可满足使用要求。 相似文献
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基于D-H参数法建立码垛机器人手臂的运动学模型。用MATLAB计算码垛机器人的工作空间以确定完成典型任务的工作轨迹,然后用Pro/E的机构分析模块对码垛机器人进行动力学仿真,求各轴在完成典型任务下的受力情况,为开发码垛机器人选择电机减速机的选型提供理论数据。 相似文献
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用慧鱼创意组合模型对多功能履带式机器人的挖掘机械臂进行了结构设计,应用Pro/E软件建立了三维实体模型,利用AN-SYS软件进行有限元分析,得出了机械臂的应力位移分析图,并分析了应力集中对结构的影响及优化方法,为后续研究奠定了基础。 相似文献
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为保证铸件切割打磨机器人工作臂关键部件强度和零件材料选择的合理性,运用ANSYS Workbench软件对铸件切割打磨机器人工作臂关键部件进行静力学分析,有限元分析结果表明:砂轮切削打磨装置进行曲面切削打磨,承受左三向力极限载荷时,最大位移变形量为0.29332mm,发生在打磨头;最大等效应力为85.45MPa,发生在打磨头与打磨头固定位置左上侧,即结构强度和刚度满足砂轮切削打磨装置工作要求,为铸件切割打磨机器人结构设计和强度校核提供了参考。 相似文献
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Hyeung-Sik Choi Tae-Hyeung Kim Woong-Ju Moon Paul I. Ro 《International Journal of Precision Engineering and Manufacturing》2009,10(4):49-56
This paper details a study performed on a new proposed twelve degree-of-freedom dual robot arm, which is very light but capable
of handling heavy loads. The proposed robot arm has a higher value for the ratio of the load capacity/robot weight than conventional
robot arms, which are actuated by motors with speed reducers, such as a harmonic drives, since it adopts a new type of robot
actuator based on a closed chain mechanism. Because of the high value of the ratio of the payload capacity/robot weight, it
can be used as a robot arm for mobile robots and for walking robots. Analyses of the design scheme and of the mechanism of
the joint actuator used for the robot arm are presented. Also, the control system developed for the robot arm is introduced.
The superior characteristics of the new proposed robot arm, handling heavy payloads with light weight links compared to industrial
robots, are presented through carrying out various payload capacity tests. Since the robot arm is designed with light links,
it has some deflections and these deflections of the links are analyzed using the Finite Element Method (FEM). The results
of performance tests are presented to check the correctness of the FEM analysis and to demonstrate the actual capability of
handling heavy payloads applied to the robot arm. 相似文献
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运用机械设计和三维仿真技术,设计制作了家庭服务型机器人手臂,并在此基础上运用人工神经网络技术研究该手臂的运动学问题,为进一步的手臂行为控制及机器人服务功能开发奠定了基础。 相似文献
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针对现有工业机器人电机与减速机选型的不合理,运用三维软件对机器人建立实体模型,利用ADAMS对其大臂关节进行动态特性分析,得到其在极限位置的力矩和功率曲线。由曲线可知大臂关节处所需的最大功率为288W,最大扭矩为417N·m,现有电机功率利用率只有16%。提出大臂电机以及减速器选型优化方案,将电机功率利用率提高到64%。 相似文献
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The problems related to self-collision detection and optimal collision-free trajectory planning for a robot arm subjected
to dynamic constraints is investigated. First, a computed-torque method is used to obtain a linearized closed-loop system.
For this linearized system, the reference state that the robot arm is capable of reaching is verified through phase plane
analysis. This will ensure that the robot arm can be stopped before self-collision occurs. Dynamic constraints are taken into
account for a continuous motion of deceleration by calculating the bounds of the commanded force/torques with interval evaluations.
When the reference state e at t+δt is not valid for selfcollision avoidance, a new feasible state is determined by adhering to an interval-based method which
allows decomposition of a complex constrained optimization problem into a simple two-stage optimization problem with relaxed
constraints. The optimized feasible state not only secures the robot arm against self-collision but also allows the robot
arm to track the original reference trajectory closely. Simulation and experimental results of a 2-dof robot arm show the
effectiveness of the proposed interval-based approach. 相似文献