摘要
弧焊机器人在工作过程中大臂可能会因受到冲击和振动而承受较大动载荷,某种程度上会影响焊接精度,甚至导致大臂损坏。因此有必要对弧焊机器人的大臂进行模态分析,因为模态分析也是其它动力学分析的起点。依据参数化建模技术与有限元分析理论,首先建立机器人大臂的三维模型,再利用通用有限元分析软件ANSYS对已有仿形设计的弧焊机器人大臂模型进行模态分析,为后续大臂结构的改进及机器人控制方案的制定提供了依据。
While arc welding robot works,its arm may suffers large dynamic stress caused by shock and vibration.These dynamic loads to some extent will lead to lower precision of welding,or even result in damage to the robot arm.So it is necessary to apply modal analysis towards robot arm,meanwhile modal analysis is the starting point of other dynamic analysis.On the basis of parametric modeling technique and finite element analysis theory,a 3D model of the robot arm is created firstly in it,after which it presents a modal analysis of the imitation robot arm by finite element analysis software ANSYS.The results of the modal analysis provide a basis for structure improving and robot motion control.
出处
《机械设计与制造》
北大核心
2012年第6期151-153,共3页
Machinery Design & Manufacture
基金
常熟市科技计划项目(CG200902)
关键词
机械臂
有限元法
模态分析
Robotic Arm
Finite Element Method
Modal Analysis
