摘要
建立三自由度高刚度机器人有限元模型并对其进行静、动态特性分析。对比分析制动器动作对机器人的刚度、固有频率和机器人在外力作用下的稳态响应的影响;对样机进行实验测试分析。结果表明:所提制动器结构方案能提高机器人的刚度和固有频率以及降低操作器末端的振幅,能够改善机器人工作时的动态特性。
A finite element model of the three DOF high-stiffness robot was established, and its static and dynamic characteristics were analyzed. The influence of the brake action on the stiffness, natural frequency and steady-state response of the robot under external forces were compared and analyzed;experimental test analysis to the prototype was performed. The results show that the proposed brake structure scheme can increase the stiffness and natural frequency of the robot, reduce the end amplitude of the operating, and improve the dynamic characteristics of the robot when working.
作者
余宏志
康献民
钟祺彬
陈尧
植美浃
YU Hongzhi;KANG Xianmin;ZHONG Qibin;CHEN Yao;ZHI Meijia(Faculty of Intelligent Manufacturing,Wuyi University,Jiangmen Guangdong 529020,China)
出处
《机床与液压》
北大核心
2021年第23期24-29,共6页
Machine Tool & Hydraulics
基金
2019年度广东省科技专项资金(“大专项+任务清单”)项目(江财工[2019]189号)。
关键词
三自由度高刚度机器人
动态特性
有限元分析
Three DOF high-stiffness robot
Dynamic characteristics
Finite element analysis
