| Industrial manipulator is an important component which elementary for modern flexible manufacturing system, its performance is directly related to the use of the whole manufacturing line, has great effect on advanced its structure rationality is particularly important industrial manipulator on production efficiency of production line and improve production quality. In this paper, made analyze and optimization for a manipulator based on the finite element methodAccording to the working process of manipulator, made analyze for the typical station attitude during work, obtains8kinds of work has the most station attitude representation, the8kinds of attitude for finite element modeling, through meshing, setting constraints and load and a load step, the8typical attitude manipulator of the stress and displacement values at the same time, in the static performance analysis finds out the work the most unstable attitude, the attitude as the subsequent modal analysis model.For the study of dynamic characteristics of manipulator, using ANSYS Block Lanczos to extract the first6modes of the structural model extraction, the excitation frequency hand use mechanical and the calculation, the comparison between the two to find the motor frequency and the structure of the second order natural frequency of the use of mechanical hand close, will cause vibration characteristics, so this paper combined with the modal chart show makes the optimization direction of the corresponding.The linear guide rail and the slider assembly In the manipulator in the modal vibration also be affected to a certain extent, which are subject to different degrees of bending and torsion, the use of straightness and parallelism has certain influence, so this paper re modeling modal vibration consideration to guide the slider, and the contact surface of the contact stress and deformation checking.According to the characteristics of vibration modal analysis has shown, strengthen the overall structural strength and stiffness by thickening the part thickness, improve the anti-vibration, but because of structural components are more, if all the components whose size is bound to cause a massive increase in thickening machine quality, energy consumption and cost, this paper take the method of sensitivity calculation of performance parameters and to increase the quality of each component of the thickness, performance parameters include:the first-order natural frequency, bending stiffness, torsional stiffness, and the comprehensive properties of parameter sensitivity and mass sensitivity in16initial design parameters identified6design parameters greatly influence on system performance of thickness optimization.Through the sensitivity calculation to determine the optimum design of parts, from the two aspects of structure and size optimization design. In the optimization of the structure, modeling of mechanical arm based on the different section shape, through modal analysis and optimization of cross-section shape of mechanical arm, and the improved structure by changing the installation guide. In the optimization of its size, the thickness as design parameters, the dynamic parameters of natural frequency and vibration displacement as constraint conditions, the minimum mass as the objective function, the approximate solution of the mathematical model, the optimal solution to finite element modeling and modal analysis. In the premise of quality only to increase4.1%, the overall stiffness of the effect of more than20%, and the natural frequency is changed so as to avoid resonance occurs, obtained manipulator CAE effective analysis method, has certain theoretical and practical engineering significance. |
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