基于Workbench的三轴搬运机器人结构设计与模态分析

目的为将货架上的货物直接搬运至目的地,真正实现货物到人的目的,设计一款三轴搬运机器人。方法利用SolidWorks与Workbench软件建立三维模型与有限元模型,对底盘机构与升降机构进行详细设计,并对底盘结构进行模态分析,分析其外部激励来源。结果两侧升降机构安装板是主要的动态特性影响因素,所设计的底盘结构不会因为外部激励而发生共振。结论该搬运机器人的结构新颖、设计合理,能够广泛应用于多种场合,如货物拣选、工件存放与搬运等,具有较高的应用价值。

Structural Design and Modal Analysis of Three-axis Transport Robot Based on Workbench

The work aims to design a three-axis transport robot to transport the goods on the shelves to the destination directly, thus realizing the purpose of transporting the goods to the people. The three-dimensional model and finite element model were established with SolidWorks and Workbench software, and the chassis mechanism and the lifting mechanism were designed in detail. The modal analysis of chassis structure was conducted, and the external excitation source was analyzed. The plates on both sides used to install the lifting mechanism were the main factor affecting the dynamic characteristics. The chassis structure designed would not resonate due to the external excitation. The proposed transport robot is featured by novel structure and reasonable design. It can be widely applied in many cases, such as picking goods, storing and transporting artifacts, and it has higher application value.