摘要
六关节工业机器人以动作灵活、结构紧凑等优点广受使用者的青睐。本文以具备80kg负载能力、工作可达半径2250mm、整备质量650kg为基础设计指标,设计一种具有六个旋转关节的关节型工业机器人的总体机械结构设计方案。对机器人进行动力学分析计算、分析其各个关节在转动惯量、角速度、加速度等技术指标下的工作状况[1],确定各关节应选用的核心零部件。计算各轴电机的功率、转矩,减速器的减速比,完成机器人本体材料和轴承的设计选型计算;用SolidWorks画出机器人的三维仿真模型,并装配成型。
Six-joint industrial robot is widely favored by users for its flexibility and compact structure. Based on the design indexes of 80kg load capacity,2250mm working radius and 650kg recondition mass,this paper designs an overall mechanical structure design scheme of a jointed industrial robot with six rotating joints. The dynamic analysis and calculation are carried out for the robot,and the working conditions of its joints under such technical indicators as moment of inertia,angular velocity and acceleration are analyzed[1],so as to determine the core parts to be selected for each joint. Calculate the power,torque and deceleration ratio of each shaft motor,complete the design and type selection calculation of robot body material and bearing;Draw the 3d simulation model of the robot with SolidWorks and assemble it into shape.
作者
葛捷
诸葛镐
童诚昊
GE Jie;ZHU Ge-Gao;TONG Cheng-Hao(Zhejiang Jinfei Machinery Co.,Ltd.,Jinhua Zhejiang 321000,China)
出处
《机电产品开发与创新》
2019年第2期25-27,共3页
Development & Innovation of Machinery & Electrical Products
关键词
工业机器人
机械结构
伺服电机
减速器
industrial robot
mechanical structure
servo motor
reducer
