| HT120点焊机器人柔性臂动力学和强度分析 |
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| 引用本文： | 周昌令,方晓庆,苏先樾. HT120点焊机器人柔性臂动力学和强度分析[J]. 工程力学, 2004, 21(5): 11-15,35 |
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| 作者姓名： | 周昌令 方晓庆 苏先樾 |
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| 作者单位： | 北京大学力学与工程科学系,北京,100871;中国科学院自动化研究所,北京,100080 |
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| 基金项目： | 国家863高技术发展计划资助项目(3H99H01) |
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| 摘 要： | 利用多体动力学分析软件ADAMS,直接从三维CAD模型中获取HT120点焊机器人的几何形状、质量分布和转动惯量等重要信息。在此基础上,适当添加约束、力和运动关系,建立了HT120点焊机器人的数字虚拟样机模型。然后进行了动力学仿真,并将机器人小臂等关键部件设为柔性体,利用有限元软件研究小臂动力学仿真过程中的应力分布情况,对造型设计,结构优化以及疲劳分析提供了参考。
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| 关 键 词： | 机器人 虚拟样机 柔性机械臂 应力分析 多体动力学 |
| 文章编号： | 1000-4750(2004)05-0011-05 |
DYNAMIC ANALYSIS AND STRENGTH OF A FLEXIBLE ROBOT MANIPULATOR |
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| ZHOU Chang-ling,FANG Xiao-qing,SU Xian-yue. DYNAMIC ANALYSIS AND STRENGTH OF A FLEXIBLE ROBOT MANIPULATOR[J]. Engineering Mechanics, 2004, 21(5): 11-15,35 |
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| Authors: | ZHOU Chang-ling FANG Xiao-qing SU Xian-yue |
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| Abstract: | The multibody software package ADAMS is used to acquire some important parameters from the CAD model of and HT120 spot-weld robot. Combining proper constraints, forces and movements with the parameters such as geometry, mass distribution and inertia, a virtual prototype machine of the robot is built. A dynamic analysis of the robot is performed. Some key parts like the little arm are treated as flexible bodies and the stress distribution in the little arm is studied using finite element code. The results may be helpful for shape design, structural optimization and fatigue examination. |
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| Keywords: | robot virtual prototype machine flexible manipulator stress analysis multibody dynamics |
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