协作机器人结构设计及齿轮传动系统仿真

Structural Design and Gear Transmission System Simulation of Collaborative Robots

摘要: 本文针对看守所传统送餐方式存在安全性差、效率低的问题，研制了一款实现特种场所无人化送餐的协作式机器人，并对其关键传动系统进行有限元分析。结合Solidworks软件设计了整机三维模型，采用模态分析与瞬态动力学仿真分析相结合的手段，研究了机械臂旋转模块中的齿轮传动系统非线性动力学特性。仿真结果显示：齿轮系统的前8阶固有频率远高于共振频率，在不同扭矩输入下，最大变形量为1.729 mm，最大应力值为723.1 Pa。基于赫兹理论得到齿轮接触面疲劳强度极限为6.3258 Mpa，低于材料屈服强度。与有限元分析结果进行对比，验证装置在强度、刚度以及动态响应方面均符合工程设计要求，为后续研发和优化提供了理论依据。目前对样机已完成调试，结果良好，具有广阔的应用前景。

Abstract: In this study, a collaborative robot was developed to address the safety and efficiency issues in tra-ditional prison meal delivery. The key transmission system of the robot was analyzed using finite element analysis, and the entire machine was designed using Solidworks software. A combination of modal analysis and transient dynamic simulation analysis was used to investigate the nonlinear dynamic characteristics of the gear transmission system in the rotational module of the robotic arm. The results showed that the first eight orders of the gear system’s natural frequency were far higher than the resonance frequency, with a maximum deformation of 1.729 mm and a maximum stress value of 723.1 Pa under different torque inputs. Based on the Hertz theory, the fatigue strength limit of the gear contact surface was obtained to be 6.3258 MPa, which is lower than the material yield strength. Compared with the finite element analysis results, the device meets the engineering design requirements in terms of strength, stiffness, and dynamic response, providing a theoretical basis for future research and optimization. The prototype has been successfully debugged, and the results are promising, with broad application prospects.