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针对某一炉窑热处理生产线中实际工作需求,设计出了具有一定柔性的4自由度直角搬运机器人,并简化出有限元模型。在此基础上,对该机器人极限位置的结构进行了静态分析,得到了位移及应力分布图,验证了结构设计的可靠性。此外,经过对机器人结构的模态分析,提取出前六阶固有频率,并采用模态叠加法进行谐响应分析,最终获得了机器人在间谐载荷作用下的响应,分析出适宜的工作频率区间,为炉窑直角搬运机器人的性能优化提供了可靠的参考依据。
Aiming at the actual work requirement in a furnace heat treatment production line, a flexible 4 DOF right angle handling robot was designed and the finite element model was simplified. On this basis, static analysis of the structure of the limit position of the robot was carried out, displacement and stress distribution were obtained, and the reliability of the structure design was verified. In addition, after the modal analysis of the robot structure, the first six natural frequencies are extracted, and the modal superposition method is used to analyze the harmonic response. Finally, the robot’s response under the interharmonic load is obtained, and the suitable operating frequency range is analyzed. It provides a reliable reference for the performance optimization of the furnace right angle handling robot.