HR50折弯机器人结构分析与优化设计

发布时间：2018-05-28 18:42

本文选题：折弯机器人 + 动静态特性　；参考：《东南大学》2016年硕士论文

【摘要】：折弯机器人是钣金自动化加工系统中的关键设备,其主要功能是实现板料折弯过程中的自动上下料和跟随折弯加工等。折弯机器人的性能对产品的加工效率和质量具有重要的影响。目前,钣金自动化加工系统正朝着高速、高精度的方向发展,对折弯机器人的动静态性能提出了更高的要求。本文以HR50折弯机器人为研究对象,针对整机进行动静态分析,并对运动部件进行优化设计。本文的主要研究内容如下：1.建立整机的有限元模型,在XYZ三个主要行程上各取10个工位进行静力学分析。通过变形云图和参考点的位移分析整机的静刚度,并研究工位对刚度的影响。通过应力云图分析各受力零部件和连接部位的强度和应力集中。静力学分析为改善某些部位的强度、避免应力集中和之后的优化设计提供了参考。2.通过有限元模态分析和模态实验相结合的方式分析整机的动态特性,获得了模态振型及其对应的频率,筛选对工作平台的振动影响较大的振型,为后期的优化设计提供参考。3.开展HR50折弯机器人整机的刚柔耦合动力学仿真分析。通过实验获得导轨滑块结合部的刚度和阻尼参数,并建立等效模型,使用Craig-Bampton法建立柔性体模型,结合实验测试得到的加速度响应曲线建立驱动进行仿真。分析手腕前端在Y向和Z向运动时的精度。4.使用变密度法对Y轴的横隔板进行拓扑优化,寻求最佳的材料分布形式。基于网格变形技术对Y轴和Z轴的外壳进行形状优化,使用HyperMorph建立形状变量,以质量为约束,以静力作用下的位移和模态分析的低阶频率建立的组合柔度指数作为目标,寻求最优解,得到更合理的外形形状。
[Abstract]:Bending robot is the key equipment in sheet metal automatic processing system. Its main function is to realize automatic loading and unloading and following bending processing during sheet metal bending. The performance of bending robot has an important effect on the processing efficiency and quality of the product. At present, the automatic processing system of sheet metal is developing in the direction of high speed and high precision, which puts forward higher requirements for the dynamic and static performance of bending robot. In this paper, HR50 bending robot is taken as the research object, the dynamic and static analysis of the whole machine is carried out, and the optimal design of the moving parts is carried out. The main contents of this paper are as follows: 1. The finite element model of the whole machine was established, and the statics analysis was carried out at 10 stations on each of the three main trips of XYZ. The static stiffness of the whole machine is analyzed by the deformation cloud map and the displacement of the reference point, and the influence of the working station on the stiffness is studied. Stress cloud diagram is used to analyze the strength and stress concentration of various parts and joints. Static analysis provides a reference for improving the strength of some parts, avoiding stress concentration and optimizing design. Through the combination of finite element modal analysis and modal experiment, the dynamic characteristics of the whole machine are analyzed. The modal modes and their corresponding frequencies are obtained, and the vibration modes which have a great influence on the vibration of the working platform are selected, which can provide a reference for the optimization design in the later stage. The rigid-flexible coupling dynamics simulation analysis of HR50 bending robot is carried out. The stiffness and damping parameters of the rail slider joint are obtained by experiments, and the equivalent model is established. The flexible body model is established by using Craig-Bampton method, and the acceleration response curve obtained from the experiment is used to establish the driving force for simulation. The precision of the front end of the wrist in Y and Z directions is analyzed. The method of variable density is used to optimize the transverse partition of Y axis to find the best material distribution form. Based on the mesh deformation technique, the shape of Y-axis and Z-axis shell is optimized. The shape variables are established by HyperMorph, and the combined flexibility index of displacement under static force and the low frequency of modal analysis is taken as the target. An optimal solution is obtained and a more reasonable shape is obtained.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242;TG305

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