摘要
选定某国产码垛工业机器人手腕体作为分析对象,先理论计算获得其危险工况下的受力情况,然后以刚度为优化目标,以质量为约束条件,通过有限元手段对其进行拓扑优化,再通过设计软件对优化结果进行二次设计,最后通过有限元分析对结果进行校核,保证质量大幅下降的同时刚度不下降,同时为节拍提升提供可能性。实际样机测试验证了该方案的合理性,可为今后工业机器人高刚性、高节拍以及轻量化发展提供参考依据。
In this paper,the wrist of a domestic palletizing industrial robot is selected as the analysis object.Firstly,the force under the dangerous working condition is obtained by theoretical calculation,then the stiffness is taken as the optimization objective,the mass is taken as the constraint condition,the topological optimization is carried out by means of finite element method,then the optimization result is designed twice by design software,and finally the result is calibrated by finite element analysis Nuclear,to ensure that the quality of a substantial decline in the same time the stiffness does not decline,while providing the possibility for the beat to improve.Finally,the rationality of the scheme is verified by the actual prototype test.It provides a reference for the development of industrial robots with high rigidity,high beat and lightweight.
作者
陈祥俊
黄文
赵从虎
CHEN Xiangjun;HUANG Wen;ZHAO Conghu(Everett Intelligent Equipment Co.,Ltd.,Wuhu 241000)
出处
《现代制造技术与装备》
2020年第4期41-43,46,共4页
Modern Manufacturing Technology and Equipment
关键词
工业机器人
拓扑优化
质量
刚度
industrial robot
topology optimization
mass
rigidity
