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基于Abaqus桁架机械手动静态性能分析 被引量:2

Finite Element Analysis of Truss Manipulator Based on Abaqus
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摘要 针对企业螺旋钻杆焊接工作站需求,设计桁架机械手进行自动上下料。关于机械手机身刚度及整机稳定性问题,对机身进行静力分析,得出机身最大变形量,确定机身变形对机械手定位精度的影响较小;同时,对整机进行模态分析得出整机的最低固有频率高于机械手的激振频率,即整机不会发生共振。该方法为桁架机械手整机结构设计提供了科学依据。 In order to meet the requirement of spiral welding rod production line, a truss robot was designed to automatically carry pipe in the process of welding. Aiming at the problem of stiffness of robot body and the stability of truss robot, static analysis of robot body was carried out which shows that the deformation of body had little effect on the positioning accuracy of the robot. And modal analysis of the robot which proves that the lowest natural frequency is higher than the robot excitation frequency was conducted. Finally, in order to further improve the dynamic performance of the whole machine, some suggestions for improving the structure of linear motion module were put forward. The method provided a scientific basis for the structural design of the truss robot.
出处 《煤矿机械》 2017年第11期58-60,共3页 Coal Mine Machinery
关键词 桁架机械手 机身 静力分析 模态分析 truss robot robot body static analysis modal analysis
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