机器人制孔末端执行器的设计及静动力学分析
Design and static & dynamic analysis of robotic drilling end effector
张健 1霍凤伟 1付佳1
作者信息
- 1. 营口理工学院 机械与动力工程学院,辽宁 营口 115014
- 折叠
摘要
提出了一种新型机器人制孔末端执行器的模块化结构设计方案,阐述了该末端执行器的主要模块结构设计、技术特点和技术参数.针对末端执行器整体和主要结构零件分别进行了有限元静力学及动力学分析计算,分析结果表明结构设计科学合理.同时,进一步揭示了高速制孔末端执行器与其匹配的机器人成本和制孔质量之间的关系,可以为其他类似机器人末端执行器设计提供参考.
Abstract
A modular structural design scheme for a new type of robotic drilling end effector has been proposed.The main modular unit structure design,technical characteristics,and technical parameters of the end effector elaborated.Next,FEM static and dynamic analysis calculations were conducted on the overall and main structural components of the end effector,and the analysis results showed that the structural design was scientifically reasonable.At the same time,it further reveals the relationship between the cost and drilling quality of high-speed drilling end effector and their matching robots,which can provide reference for the design of other similar robotic end effector.
关键词
机器人制孔/末端执行器/设计/静力学分析/动力学分析Key words
robotic drilling/end effector/design/static analysis/dynamic analysis引用本文复制引用
出版年
2024
NETL
NSTL
万方数据