Research on the Evaluation and Optimization Method of the SCARA Robot Shape
Objective:This paper aims to explore a method for evaluating and optimizing the shape of the SCARA robot in the early stage,so as to effectively shorten the development cycle of SCARA robots.Method:Three schemes of SCARA robot shape are constructed through the modeling software.The mechanical and modal analysis of the schemes is carried out by NX Nastran,and the apical displacement,maximum stress value of the structure and low-order natural frequency of each scheme are obtained.The schemes are evaluated respectively by the calculation formula derived from the proportional method.Through the F-test of ANOVA,the influencing factors of the weak links of the scheme are analyzed,and the final scheme is optimized to complete the design of the SCARA robot.Result:The comprehensive data evaluation shows that Scheme Ⅰ is optimal.According to the results of ANOVA,the effect of wall thickness on the apical displacement is significant,so the wall thickness of Scheme Ⅰ is optimized and re-evaluated.Conclusion:The mechanical superiority of Scheme Ⅰ indicates that the evaluation results are reasonable,and the results of the optimized modeling scheme verify the rationality of the evaluation and optimization,which proves that the method has certain feasibility.
SCARA robotfinite element analysisanalysis of variancemodeling evaluation
NETL
NSTL
万方数据
