基于ANSYS六轴焊接机器人整体静刚度仿真与实验
Simulation and Experiment of Overall Static Stiffness of Six-axis Welding Robot Based on ANSYS
薄棋耀 1谭晶 1黄迪山 1童彤 2顾京君2
作者信息
- 1. 上海大学,上海 200444
- 2. 南通振康机械有限公司,江苏 南通 226145
- 折叠
摘要
基于UG NX 12.0 和ANSYS Workbench软件,对六轴焊接机器人进行三维建模,使用等质量简单几何模型与Workbench中的弹簧元件来等效代替各个关节减速器的端面刚度与扭转刚度,并进行初始与极限两种位姿在空载与满载条件下的静力学仿真,得到了六轴焊接机器人在满载下的位移量,计算出六轴焊接机器人的整体静刚度;使用激光跟踪仪来进行六轴焊接机器人的静刚度实验,计算并得出六轴焊接机器人的实际静刚度,验证了该模型的可靠性,为后续工业机器人的研发提供了建模思路.
Abstract
3D modeling of a six-axis welding robot based on UG NX 12.0 and ANSYS Workbench software,using a sim-ple geometric model with equal mass and spring elements in Workbench to equivalently replace the end face stiffness and torsional stiffness of each joint reducer,and carrying out the static simulation of the initial and ultimate two positions under no-load and full-load conditions,this paper obtaines the displacement of the six-axis welding robot under full-load,and calculated the overall static stiffness of the six-axis welding robot.A laser tracker is used to conduct static stiffness experi-ments of a six-axis welding robot,and the actual static stiffness of the six-axis welding robot is calculated and derived,which verifies the reliability of the model.
关键词
焊接机器人/ANSYSY/静力学分析/等效刚度Key words
welding robot/ANSYS/static analysis/equivalent stiffness引用本文复制引用
出版年
2024
NETL
NSTL
万方数据