基于SolidWorks Simulation的机械手末端执行器建模及优化设计

Modeling and Optimal Design of a Robotic Gripper Based on SolidWorks Simulation

摘要: 针对动力电池顶盖等表面光滑、易受损工件在抓取和搬运过程中易出现划伤、掉落等问题，本文设计了一种真空吸盘式机械手末端执行器，并基于SolidWorks Simulation对其进行三维建模、静应力分析、模态分析和轻量化优化设计。首先对初始方案进行有限元分析，本次分析中，末端执行器材料选用6061铝合金。在等效工作载荷23.52 N作用下，初始方案最大应力为5.167 Mpa，最大位移为0.0286 mm，安全系数约为10.67，说明结构具有较大的强度裕量，存在轻量化优化空间。随后以质量最小为优化目标，以最大应力不超过27.5 Mpa、最大位移不超过0.1 mm为约束条件，对安装板厚度、支架厚度和法兰长孔宽度进行参数优化。优化结果表明，当安装板厚度为6 mm、支架厚度为6 mm、法兰长孔宽度为26 mm时，末端执行器质量由0.61 kg降低至0.43 kg，减重0.18 kg，减重率约为29.5%；优化后最大应力为9.551 Mpa，最大位移为0.09077 mm，均满足设计约束要求。结果表明，优化后方案在保证结构强度和刚度的前提下实现了明显减重，可满足动力电池顶盖高速搬运工况下的工程应用要求。

Abstract: To address the issues of scratching and dropping of workpieces with smooth and vulnerable surfaces, such as power battery covers, during handling and transfer processes, this paper presents the design of a vacuum suction cup-type robotic end-effector. Utilizing SolidWorks Simulation, the study conducts three-dimensional modeling, static stress analysis, modal analysis, and lightweight optimization design for the end-effector. First, a finite element analysis (FEA) is performed on the initial design scheme. In this analysis, the material selected for the end-effector is 6061 aluminum alloy. Under an equivalent working load of 23.52 N, the initial design exhibits a maximum stress of 5.167 Mpa, a maximum displacement of 0.0286 mm, and a safety factor of approximately 10.68. This indicates that the structure possesses a substantial safety margin and offers potential for lightweight optimization. Subsequently, with the objective of minimizing mass and constraints of maximum stress not exceeding 27.5 Mpa and maximum displacement not exceeding 0.1 mm, parametric optimization is carried out on the thickness of the mounting plate, the thickness of the support bracket, and the width of the elongated hole in the flange. The optimization results show that with a mounting plate thickness of 6 mm, a support bracket thickness of 6 mm, and a flange elongated hole width of 26 mm, the mass of the end-effector is reduced from 0.61 kg to 0.43 kg, achieving a mass reduction of 0.18 kg, corresponding to a reduction rate of approximately 29.5%. The optimized design yields a maximum stress of 9.551 MPa and a maximum displacement of 0.09077 mm, both of which meet the specified design constraints. The results demonstrate that the optimized design achieves significant weight reduction while ensuring structural strength and stiffness, thereby meeting the engineering application requirements for high-speed handling of power battery covers.