摘要
串联型6自由度机械臂末端刚度比较差,在高速运动过程中会出现严重的抖动问题,尤其是在起停阶段该问题更加突出。设计阶段为了避免机械臂出现抖动问题,需要对机械臂的动态性能进行准确地计算和优化。文中将减速机的扭转刚度和螺栓刚度加入到仿真分析中,采用Hyperworks软件建立5个仿真模型,用有限元软件ABAQUS对仿真模型进行求解,获取机械臂的前4阶固有频率和振型。通过振动测试获取机械臂整机的前4阶固有频率和仿真分析结果进行对比,找出准确计算机械臂动态性能的有效方法,并以此仿真方法找出结构刚度的薄弱环节,完成机械臂的结构优化及减速机的选型工作,缩短研发周期,降低设计开发成本。
Since the tandem six-degree-of-freedom manipulator arm has poor rigidity at its end,serious jitter will occur in the process of high-speed motion,especially in the start-stop phase.In order to prevent the manipulator arm from jitter in the design stage,the manipulator arm’s dynamic performance should be calculated and optimized in an accurate manner.In this article,both the torsional stiffness of the reducer and the bolt stiffness are added to the simulation and analysis;five simulation models are set up by means of Hyperworks,and the finite-element software ABAQUS is used to solve the simulation models,so as to work out the manipulator arm’s first four natural frequencies and vibration modes.Though a series of experimental tests,the manipulator arm’s first four natural frequencies are compared with the results obtained from the simulation and analysis,in order to find out an effective method for accurately calculating the manipulator arm’s dynamic performance.Besides,the simulation method is used to identify the weak link of structural stiffness,so as to complete the manipulator arm’s structural optimization and the reducer’s model selection,shorten the cycle of research and development,and reduce the design cost.
作者
王英乾
韦青海
李叶松
李晓华
WANG Yingqian;WEI Qinghai;LI Yesong;LI Xiaohua(Guangdong Bozhilin Robot Co.,Ltd.,Foshan 528312)
出处
《机械设计》
CSCD
北大核心
2024年第1期173-177,共5页
Journal of Machine Design
关键词
机械臂
减速机刚度
螺栓刚度
动态性能
固有频率
模态试验
manipulator arm
reducer stiffness
bolt stiffness
dynamic performance
natural frequency
modal testing
