摘要
机械手臂传动链作为工业机器人的核心部件,性能直接影响机器人的运行效率与运行可靠性。基于此,针对机械手臂传动链结构进行轻量化设计,采用永磁同步电机驱动装置、谐波-滚珠丝杠复合传动机构和柔性铰链执行机构构成模块化结构,实现总质量降低30%以上。通过ADAMS与ANSYS联合仿真平台验证,轻量化设计在定位精度、响应时间、能量效率等方面显著优于传统设计,平均定位误差降至0.032 mm,响应时间缩短至12.3 ms,能量效率提升至87.6%。
The robotic arm transmission chain is a key part of industrial robots.Its performance directly impacts the operational efficiency and reliability of the robots.Based on this,a lightweight design is carried out for robotic arm transmission chain.A modular structure is formed by using the permanent magnet synchronous motor drive device,the harmonic-ball screw composite transmission mechanism and the flexible hinge actuator,achieving a reduction of more than 30%in the total mass.Verified by the joint simulation platform of ADAMS and ANSYS,the lightweight design is significantly superior to the traditional design in terms of positioning accuracy,response time,energy efficiency,etc.The average positioning error is reduced to 0.032 mm,the response time is cut to 12.3 ms,and energy efficiency reaches 87.6%.
作者
张垚
ZHANG Yao(Northwest Institute of Mechanical and Electrical Engineering,Xianyang 712000)
出处
《现代制造技术与装备》
2025年第7期186-188,共3页
Modern Manufacturing Technology and Equipment
关键词
机械手臂
传动链
轻量化设计
robotic arm
transmission chain
lightweight design
