重庆理工大学学报（自然科学）

重庆理工大学学报（自然科学） ›› 2023, Vol. 37 ›› Issue (2): 324-330.doi: 10.3969/j.issn.1674-8425(z).2023.02.036

• “第 ２３届流体动力与机电控制工程国际学术会议”专栏 • 上一篇    下一篇

一种小型码垛机械臂刚柔耦合动态特性分析

林红刚，袁锐波，罗 威   

  1. １．昆明理工大学 机电工程学院，昆明 ６５０５０４； ２．光机电液系统集成与控制研究所，昆明 ６５０５０
  • 出版日期:2023-03-21 发布日期:2023-03-21
  • 作者简介:林红刚，男，硕士研究生，主要从事机械臂轨迹规划与控制研究，Ｅｍａｉｌ：１５８０８４５１９４７＠１２６．ｃｏｍ；通讯作者 袁锐 波，男，博士，教授，主要从事流体传动与控制研究，Ｅｍａｉｌ：２２９１１９７９＠ｑｑ．ｃｏｍ。

Analysis of dynamic characteristics of rigid-flexible coupling of a small palletizing manipulator

  • Online:2023-03-21 Published:2023-03-21

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摘要： 设计了一款小型码垛机械臂，对机械臂的 ３种工况位姿进行运动学研究。当前对 机械臂的刚柔耦合分析多为 ＡＮＳＹＳ软件与 ＡＤＡＭＳ软件的联合仿真，通过在 ＡＮＳＹＳ软件中建 立柔性体的模态文件，使用 ＡＤＡＭＳ软件的双向数据交换接口完成刚柔耦合动力学分析。然 而，随着软件的不断更新迭代，这个分析过程可以在 ＡＮＳＹＳ的仿真平台 Ｗｏｒｋｂｅｎｃｈ软件的瞬态 动力学分析模块 ＴｒａｎｓｉｅｎｔＳｔｒｕｃｔｕｒａｌ中实现。采用 ＳｏｌｉｄＷｏｒｋｓ软件对机械臂进行模型的设计，再 利用 ＡＮＳＹＳ软件对机械臂分别进行静力学与刚柔耦合动力学仿真分析。实验结果表明：采用 静力学刚性分析时，结果的精度低，并进一步得出：采用最大等效应力来分析不能准确判断结构 的安全；刚柔耦合仿真结果表明，在 ３种不同位姿情况下，机械臂大臂的最大应力值为 ８２．９４１ ＭＰａ，大臂的最大移动速度为 ２．４５５１ｍ／ｓ，同时机械臂能达到 １３７２．７ｍｍ的最大工作范围。通 过 ＡＮＳＹＳ的瞬态动力学运动仿真可有效预测机械臂的运动规律和应力分布，对机械臂的使用 寿命进行下一步的计算。

关键词: 机械臂, 瞬态动力学, 刚柔耦合, 特性分析

Abstract: This paper designs a small one and conducts its kinematic study in three working positions. At present, the rigid-flexible coupling analysis of a manipulator is mostly the joint simulation of ANSYS software and ADAMS software, where a modal file of the flexible body is created in ANSYS software to use the bidirectional data exchange interface of ADAMS software to realize rigid-flexible coupling dynamics analysis. However, with continuous updating and iteration of the software, this analysis process can be realized in the transient dynamics analysis module Transient Structural configured in Workbench software, the simulation platform of ANSYS. SolidWorks software is used to design the model of the manipulator. Meanwhile, ANSYS software is used to simulate the statics and the rigid-flexible coupling dynamics of the manipulator. The experimental results show that the static rigidity analysis has a great influence on the accuracy of the results, and it is further concluded that the maximum equivalent stress analysis cannot accurately judge the safety of the structure. The simulation results of the rigid-flexible coupling show that, in three different positions, the maximum stress value of the large arm of the manipulator is 82.941 MPa, and the maximum moving speed of the large arm is 2.455 1 m/s. At the same time, the manipulator is also capable of reaching the maximum working range of 1 372.7 mm. The transient dynamics motion simulation by ANSYS can effectively predict motion patterns and stress distribution of the manipulator, and make further calculation of the service life of the manipulator.

中图分类号: 

  • TP242