摘要
为了解决QM-40SA机床的手工上下料问题,设计了一种机床上下料机器人。并对该四自由度机器人的机座、机身、大臂、小臂及运用平行四边形结构的拉杆等,进行结构分析、运动学正解分析,最终得出末端执行器的工作姿态。通过三维建模软件Solidworks绘制机器人的立体图,导入ADAMS软件中对机器人进行运动学仿真,可对动力的施加以此来控制其末端执行器的工作动态。根据机器人工作时的受力分析,利用ANSYS软件对小臂进行动力学仿真,得到机器人小臂工作时的总体变形和应力图。实验分析结果表明:对于1～10 kg的物料,设计的上下料机器人末端执行器选定的4个点上x、y、z 3坐标偏差都在2 mm内,能够顺利完成上下料工作。
In order to solve the problem of manual feeding and unloading of QM-40SA machine,a robot of feeding and unloading was designed in this paper.Frame,body,arm,forearm and pull rod of using parallelogram structure of the four degrees of freedom robot were studied by structural analysis and kinematics analysis,finally it was concluded the end of actuator working attitude.And then,the 3-dimensional modeling software Solidworks was used to draw stereo-gram robot,which was imported of robot kinematics simulation in ADAMS to exert power to control the dynamic actuator at the end of the work.And then based on the force analysis of working robot,ANSYS was used to statically simulate the forearm,get robot its overall deformation and stress diagram of work.Analysis results showed the feasibility of the design on unloading robot,and it can complete work.
作者
霍洪鹏
解福祥
姜军生
宋健
HUO Hongpeng;XIE Fuxiang;JIANG Junsheng;SONG Jian(Institute of Electrical and Mechanical,Shandong University of Science and Technology,Qingdao 266590,Shandong,China;School of Mechanical-Electronic and Vehicle Engineering,Weifang University,Weifang 261061,Shandong,China)
出处
《实验室研究与探索》
CAS
北大核心
2019年第2期76-80,共5页
Research and Exploration In Laboratory
基金
国家自然科学基金项目(51505337)
山东省科技计划项目(2012YD03046)
山东省高等学校科技计划(J17KA150)
关键词
结构分析
三维建模
运动学仿真
动力学仿真
structure analysis
3D modeling
kinematics simulation
dynamic simulation
