基于伸缩臂型机器人设计的挠度补偿机构的有限元分析

Finite Element Analysis of Deflection Compensation Mechanism Based on Telescopic Boom Type Robot Design

摘要: 本文选用伸缩臂型机器人为研究对象，在Solid Works软件中建立伸缩臂型机器人的三维实体模型，利用Workbench软件对机器人进行了静力分析。通过静力分析可知工况下机器人伸缩臂的形变量。基于此设计了一款适用于此类机器人的挠度补偿机构，通过有限元仿真计算工况下补偿机构的疲劳寿命，以及补偿机构在不同工作状态下对机器人的挠度补偿大小。该研究为适用于伸缩臂型机器人的挠度补偿机构的结构设计提供一种新的参考。

Abstract: This article selects the telescopic boom type robot as the research object, establishes a three-dimensional solid model of the telescopic boom type robot in Solid Works software, and performs static analysis on the robot using Workbench software. Through static analysis, the deformation of the telescopic boom of the robot under working conditions is determined. Based on this, a deflection compensation mechanism suitable for such robots is designed. The fatigue life of the compensation mechanism under working conditions is calculated through finite element simulation, as well as the deflection compensation magnitude of the compensation mechanism in different working states of the robot. This study provides a new reference for the structural design of deflection compensation mechanisms suitable for telescopic boom type robots.