共查询到20条相似文献,搜索用时 141 毫秒
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选择顺应性装配机器手臂(SCARA)在水平面内运动速度快、重复定位精度高。为优化SCARA机器人大臂机械结构性能,减轻大臂重量,采用了模态分析与拓扑优化相结合的方法。首先建立SCARA机器人大臂三维模型,导入到有限元分析软件ANSYS Workbench中作静力学分析和模态分析,得到前6阶固有频率和振型结果;然后,利用拓扑优化方法为大臂去除材料的优化方向提出建议,重新设计大臂的优化结构并计算优化结构的模态参数;最后,对比优化前后模态参数结果,证明优化后的结构在减轻大臂重量的同时提高了大臂的机械性能。 相似文献
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恒加速度离心机转臂的稳健设计方法 总被引:1,自引:0,他引:1
在对恒加速度离心机转臂结构参数取值范围粗略估计的基础上,安排以Pro/E软件实现的正交数值实验,并用正交多项式拟合出各主要参数对转臂重量、转臂所受最大应力和转臂最大位移的响应面模型.然后,以转臂的重量为优化目标,而以转臂所受的最大应力和最大位移量为约束条件,对响应面模型进行优化,找出转臂最合理的结构参数组合,并用有限元软件对优化结构所受最大应力和最大位移进行验证.计算结果表明转臂以Pro/E为基础的稳健设计,可提高设计效率,并得到满意的设计结果. 相似文献
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为了探究应急机器人在核环境下安装不同工具头作业时机械臂的强度和可靠性,分析设计的合理性,为改进结构、提高性能稳定性及延长寿命提供依据,建立了应急机器人的有限元模型,并选取破碎锤和挖斗两种典型末端工具作业时的两种不利工况,通过ANSYS有限元软件进行静力学仿真分析。结果表明:应力集中主要发生在工具头施力处及油缸与臂铰接处,是可能产生破坏的主要原因。针对动臂进行结构优化设计,使其重量由41.7 kg优化为30.1 kg,减重28.06%;并根据优化结果加工出试验样机,将理论分析用于生产实践上,验证了优化结果的可行性。 相似文献
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在对一期翻车机系统中的推车机大臂的工况加以分析的基础上,建立了推车机大臂的三维实体模型,计算大臂的工作载荷,利用有限元分析软件ANSYS对其进行了应力分析,找出大臂开裂的原因,为改进设计提供了理论依据,并验证了改进后大臂结构的合理性。 相似文献
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Guilin YANG Shabbir Kurbanhusen MUSTAFA Song Huat YEO Wei LIN Wen Bin LIM 《Frontiers of Mechanical Engineering》2011,6(1):45
In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed. Similar to the human arm, the arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. All three arm modules are also driven by cables in order to mimic the driving scheme and functionality of the human muscles. This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closure analysis, and the workspace analysis. A closed-form solution approach is presented for the forward displacement analysis, while the inverse displacement solution is obtained through an efficient optimization algorithm, in which both task-decomposition and dimension-reduction techniques are employed. An effective tension-closure analysis algorithm is also formulated based on the theory of convex analysis. The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetric partition scheme based on the intuitive Tilt-and-Torsion angle parameterization. An optimization approach is then investigated for the kinematic design of the three joint modules, in which the design objective is to maximize the matched workspace of the robotic arm joints with that of the human arm joints. A research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design concept. With a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has motion repeatability of±2.5mm. 相似文献
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OPTIMAL DESIGN OF A 6-AXIS FORCE TRANSDUCER BASED ON STEWART PLATFORM RELATED TO SENSITIVITY ISOTROPY 总被引:5,自引:0,他引:5
Jin ZhenlinRobotics Institute Beijing University of Aeronauticsand Astronautics Beijing ChinaGao FengRobotics Research Center Hebei University of Technology Tianjin China 《机械工程学报(英文版)》2003,16(2):146-148
The design method of a 6-axis force robot's transducer based on the Stewart platform is detailed. For this purpose, the sensitivity isotropy evaluation criteria of the transducer are defined, and by the aid of computer, the relationships between the criteria and the parameters of all the transducers based on the Stewart platform are investigated within the geometric model of the solution space, which can provide the theoretical background for the optimal construction design of the 6-axis force transducer related to the sensitivity isotropy. 相似文献
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针对一种新型的仿人型12自由度双足机器人,首先介绍了其基于Solid Works的机械结构设计,具体阐述了双足机器人机械主体的组成、自由度配置以及其拟人关节和传动机构的设计;构建了双足机器人基于D—H坐标系的运动学模型。而后重点研究了一种离线的步态规划方法,其核心思想是将双足机器人的前向步态和侧向步态分别简化为七连杆模型和五连杆模型,分别加以几何约束分析,然后在Z坐标相等的情况下合成三维步态;最后通过ZMP方程来检验并在Matlab环境下进行仿真,验证了所述规划方法的有效性。 相似文献
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新型机器人6维力/力矩传感器结构的刚度性能指标分析 总被引:7,自引:1,他引:6
提出了一种新颖的6维力/力矩传感器并联结构,应用并联机器人机构学理论求出其刚度矩阵,定义其刚度性能指标,并对其刚度性能指标进行分析计算,为该传感器的设计与应用提供理论依据。分析计算结果表明,该并联结构的6维力/力矩传感器是位移刚度和扭转刚度各项同性的,可应用到机器人手腕、手指和其它使用多维力/力矩传感器的场合。 相似文献
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针对某注塑机械手产生较大振动问题,采用多重调谐质量吸振器(MTMD)技术抑制机械手取件手指的振动;提出MTMD参数优化设计方法和参数选择技术路线;扫频分析表明,安装36个TMD后,机械手手指三个方向的振幅得到有效抑制.设计的动力吸振器减振效果良好. 相似文献