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本文用有限元方法建立关节式机器人弹性动力学分析模型,着重讨论了系统组装过程中关节处的坐标转换、关节弹性处理等方面问题,并编制了相应的通用程序。该程序可求解系统运动过程中各位置时的固有频率、未端各向弹性变形、给定截面最大等效应力、终止位置系统结构振型以及给定精度要求下的残余振动时间,并把计算结果用图形直观地表示出来,最后,本文以六自由度关节机器人为例,对其手臂结构进行了全面的弹性动力学分析。
In this paper, the finite element method is used to establish the elastic dynamics model of articulated robot. The problems of coordinate transformation and joint elastic treatment in the process of system assembly are emphatically discussed, and corresponding general procedures are compiled. The program can solve the natural frequency of each position during the system movement, the elastic deformation at the end, the maximum equivalent stress of a given cross-section, the vibration mode of the final position system structure and the residual vibration time required by a given precision. The results are graphically presented. Finally, a six-degree-of-freedom articulated robot is taken as an example to analyze the structure of the arm flexibly.