摘要
本文概述了定制型机器人行业需求和应用行业工艺技术要求,并结合定制型机器人构型,对关节传动部件的水平关节手臂,进行设计要点阐述。利用伺服电机驱动器实际运行转速曲线和转矩曲线,提供系统的动力学驱动和振动激励。同时,利用动力学软件对机器人进行动力学仿真分析,得到关节传动部件的水平关节手臂的肘关节的动力学仿真数据,并对数据进行分析。总结机器人的运动特性,探讨末端执行器水平振动振幅抑制及机械设计调整方法,最终,通过优化前和优化后末端执行器水平振动振幅激光跟踪仪工艺流程的测试数据对本设计流程进行逻辑闭环,获得定制型机器人设计及验证一套方法。
This paper summarizes the demand of customized robot industry and the process and technical requirements of application industry.Combined with the customized robot configuration,this paper expounds the design points of the horizontal joint arm of the joint transmission component.The actual running speed curve and torque curve of servo motor driver are used.Provide dynamic drive and vibration excitation of the system.At the same time,the dynamic simulation analysis of the robot is carried out by using the dynamic software,the dynamic simulation data of the elbow joint of the horizontal joint arm of the joint transmission component are obtained,and the data are analyzed.The motion characteristics of the robot are summarized,and the methods of suppressing the horizontal vibration amplitude of the end effector and adjusting the mechanical design are discussed.Finally,the design process is logically closed-loop through the test data of the process flow of the horizontal vibration amplitude laser tracker of the end effector before and after optimization.A set of methods for designing and verifying customized robots are obtained.
作者
朱维金
郭帅
ZHU Weijin;GUO Shuai(SIASUN Robot&Automation CO.,Ltd.,Shenyang,Liaoning Province,110168 China)
出处
《科技创新导报》
2021年第31期14-19,共6页
Science and Technology Innovation Herald
关键词
机器人
有限元
动力学
固有频率
Robot
Finite element
Dynamics
Natural frequency
