六自由度机器人虚拟装配结构优化分析

Optimization Analysis of Six-Degree-Freedom Robot Virtual Assembly Structure

摘要: 工业机器人一般由一系列的连杆、关节或其他形式的运动副组成。在制造业的发展过程当中，工业机器人包括机座、立柱、腰关节、臂关节、腕关节和手爪。多自由度机器人具有传动平稳、调速范围大、承载能力强、空间范围广等优点。本文运用三维建模对其进行设计分析。运用Solidworks软件完成六自由度工业机器人的总体设计，建立了机器人的整体虚拟样机模型。生成了六自由度机器人的模拟爆炸图。从爆炸图中可得到六自由度机器人的结构装配关系。运用Adams软件可全面清晰的对机器人关节机构进行分析和优化。可得出静力学与动力学分析结果。本文采用ANSYS Workbench对已装配好的六自由度机器人进行response分析。

Abstract: Industrial robots are usually composed of a series of linkage, joint, or other forms of motion. During the development of manufacturing, industrial robots include machine seats, vertical posts, lumbar joints, arms joints, wrist joints and claws. The multi-degree freedom robot has the advantages of smooth transmission, high speed adjustment, strong bearing capacity and wide range of space. This paper uses 3D modeling to design and analyze it. Using Solidworks software to complete the overall design of six degrees of freedom industrial robot, the whole virtual prototype model of the robot was established. A simulated explosion diagram of six degrees of freedom robot was generated. The structure assembly relationship of six degrees of freedom robot can be obtained from the explosion diagram. The robot joint mechanism can be analyzed and optimized fully.