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SCARA机械臂小臂仿生筋板结构设计研究
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安徽省交通运输厅科技项目(2013SSLMJK)


Research and Design of Bionic Stiffened Plate Structure of SCARA Mechanical Arm
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    摘要:

    为了进一步提高SCARA机器人小臂的刚度及达到小臂结构轻量化的目的,在研究轻质、高刚度生物体结构的基础上,通过Pro/E三维软件设计出SCARA机械臂小臂的筋板仿生结构,并运用ANSYS Workbench对小臂进行静力学分析和模态分析,得到最优的筋板仿生II型模型。仿真结果表明:基于茎秆和叶脉的混合仿生型筋板结构比刚度效能和一阶固有频率都有所提高,静动态性能得到改善。然后利用重复定位精度、绝对定位精度与小臂刚度的关系进行了试验验证,结果显示筋板仿生II型动静态性能有所改善。

    Abstract:

    In order to further improve the rigidity of the arm of SCARA robot and achieve the purpose of lightening the structure of the arm, based on the study of the structure of lightweight and highstiffness biological organisms, Stiffened plate bionic structure of arm of SCARA manipulator plate was designed by Pro/E ,and ANSYS Workbench was used to carry out static analysis and modal analysis on the arm,then the optimal bionic stiffened plate II model was obtained. The simulation results show that specific stiffness efficiency and first order natural frequency of the mixed bionics structure based on stems and veins is improved, and the static and dynamic performance are also improved.Then,based on the relationship between repeated positioning accuracy,absolute positioning accuracy and arm stiffness,the experimental results show that the dynamic and static perfoemance of the bionic stiffened plate II model is improved.

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曹源文,杨雪,王建文,周华. SCARA机械臂小臂仿生筋板结构设计研究[J].机床与液压,2018,46(15):71-75.
. Research and Design of Bionic Stiffened Plate Structure of SCARA Mechanical Arm[J]. Machine Tool & Hydraulics,2018,46(15):71-75

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  • 在线发布日期: 2019-07-04
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