摘要
针对某一炉窑热处理生产线中实际工作需求,设计出了具有一定柔性的4自由度直角搬运机器人,并简化出有限元模型。在此基础上,对该机器人极限位置的结构进行了静态分析,得到了位移及应力分布图,验证了结构设计的可靠性。此外,经过对机器人结构的模态分析,提取出前六阶固有频率,并采用模态叠加法进行谐响应分析,最终获得了机器人在间谐载荷作用下的响应,分析出适宜的工作频率区间,为炉窑直角搬运机器人的性能优化提供了可靠的参考依据。
In order to meet the needs of heat treatment production line of furnace, a 4 DOF cartesian transfer robot which has certain flexibility is designed and simplified the finite element model. On this basis, displacement and stress distribution of the robot is gained by making static analysis of structure in the extreme position. In addition, the modal analysis of robot structure is carried out to extract the first six order natural frequencies. The harmonic response analysis is carried out by using modal superposition method. Finally, the response of robot under harmonic load is obtained and the appropriate working frequency range is analyzed. The results of analysis will provide reliable reference for performance optimization of cartesian transfer robot.
出处
《机械传动》
CSCD
北大核心
2014年第7期100-103,共4页
Journal of Mechanical Transmission
关键词
直角搬运机器人
静态分析
间谐载荷
频率
Cartesian transfer robot Static analysis Harmonic load Frequency
