转轨机械手动力学仿真及关键技术研究

发布时间：2018-06-21 01:57

本文选题：转轨机械手 + 结构设计　；参考：《合肥工业大学》2017年硕士论文

【摘要】：随着我国生产制造业转型升级的步伐加快,自动化生产线应用日益广泛。工业机械手作为自动化生产线的关键设备,其开发研究越来越受到重视。本文设计研究的转轨机械手主要用于新能源汽车驱动电机的自动化装配生产线中,可以实现电机转子的自动转移拼装,解决了人工搬运效率低及稳定性差等问题,加快了装配线的生产节拍,提高了装配线的自动化程度。转轨机械手的结构创新和工作性能的研究对于提高自动化装配线的生产效率具有十分重要的意义。本文在研究以往机械手的基础上,根据具体的应用要求,设计了一种在竖直方向可以两级升降的新型转轨机械手。转轨机械手整体上采用桁架式结构,其中竖直方向运动的机械臂采用内臂和外臂相嵌套的结构,在外臂升降的过程中,利用同步带拖动内臂运动,达到了双节倍速的效果。该创新结构有效降低了机械手对空间的高度要求,增加了机械手的稳定性。其次,本文研究了转轨机械手的动态性能。利用ABAQUS软件对机械手的整体结构进行动力学仿真,包括模态分析和谐响应分析,获得了机械手的低阶模态振型和频率响应曲线。针对机械手的第3阶固有频率容易发生共振的情况,本文提出了对机械手立柱施加固定连接的优化措施。经过再次谐响应分析,验证了优化措施的有效性。最后,针对转轨机械手应用中的关键技术,即同步带传动的振动特性研究,本文在理论分析同步带不同振动特性对机械臂稳定性影响的基础上,利用RecurDyn软件构建了基于有限段法的同步带仿真模型。研究了其在不同张紧力作用下的运动过程,得到了同步带的横向振动振幅曲线,为同步带预紧力的设置提供了参考。
[Abstract]:With the accelerating pace of the transformation and upgrading of manufacturing industry in China, the application of automatic production line is becoming more and more widely used. As the key equipment of automatic production line, the development and research of the industrial manipulator have been paid more and more attention. The transfer manipulator designed in this paper is mainly used in the automatic assembly line of the drive motor of new energy vehicles, which can be real The automatic transfer and assembling of the current motor rotor has solved the problems of low efficiency and poor stability of manual handling, accelerated the production of the assembly line and improved the automation degree of the assembly line. The research on the structure innovation and working performance of the transition manipulator is of great significance for improving the production efficiency of the automatic assembly line. On the basis of the previous manipulator and according to the specific application requirements, a new type of switch manipulator is designed in the vertical direction which can rise and fall of two stages. The trussed structure is adopted as a whole, in which the vertical direction moving manipulator adopts the nested structure of the inner arm and the outer arm, and the synchronization is used in the process of the lifting of the outer arm. This innovative structure effectively reduces the height requirement of the manipulator and increases the stability of the manipulator. Secondly, the dynamic performance of the manipulator is studied in this paper. The dynamic mechanical simulation of the overall structure of the manipulator, including the modal analysis and the harmonious response, is used in the ABAQUS software. The low order mode vibration mode and the frequency response curve of the manipulator are obtained. In view of the case that the third order natural frequency of the manipulator is easy to resonate, this paper puts forward the optimization measures to apply the fixed connection to the mechanical hand column. After the re harmonic response analysis, the effectiveness of the optimization measures is verified. Finally, the application is aimed at the application of the transfer manipulator. The key technology, the vibration characteristics of synchronous belt drive, is based on the theoretical analysis of the influence of the different vibration characteristics of the synchronous belt on the stability of the manipulator. The simulation model of the synchronous belt based on the finite segment method is constructed by using the RecurDyn software. The motion process of different tension forces is studied, and the transverse direction of the synchronous belt is obtained. The vibration amplitude curve provides a reference for setting the pretightening force of the synchronous belt.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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