船体外板水火成型机器人Y轴横梁变形计算和模态分析

对船体外板水火成型智能机器人的重要部件——Y轴横梁进行了有限元静力学分析和模态分析。采用三维十节点四面体结构单元计算Y轴横粱在各种典型工况下的变形，提取变形规律。在此基础上，对Y轴横梁进行模态分析，求解出前5阶的固有频率和相应频率处的振动模态，验证其设计结构的可行性。同时，也为后续的加工精度分析和误差补偿提供了理论依据。

Deformation calculation and modality analysis on Y-axial beam of the robot used for line-heated forming of hull outer steel plate

The finite element statics analysis and modality analysis have been carried out on an important component -Y-axial beam of the robot used for line-heated forming of hull outer steel plate. By adopting the structural unit with 3D 10-node tetrahedron to compute the deformation of Y-axial beam under various typical working conditions, and pick up the law of deformation. Taking this as a base, modality analysis was carried out on the Y-axial beam; the inherent frequency of former five orders and the vibration modality at places of corresponding frequency were solved. The feasibility of its designing structure was verified, simultaneously a theoretical basis was provided as well for the follow-up analysis of machining accuracy and error compensation.