CN104484511A - Simulation analysis based dynamic characteristic design method for robot structures - Google Patents
Simulation analysis based dynamic characteristic design method for robot structures Download PDFInfo
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- CN104484511A CN104484511A CN201410716271.7A CN201410716271A CN104484511A CN 104484511 A CN104484511 A CN 104484511A CN 201410716271 A CN201410716271 A CN 201410716271A CN 104484511 A CN104484511 A CN 104484511A
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Abstract
The invention relates to a simulation analysis based dynamic characteristic design method for robot structures, and belongs to the field of machinery design. According to the method, through three-dimensional modeling, grid modeling, strength analysis, dynamic response analysis, comparison analysis and optimal structure design, the robot structures meeting requirements are designed after multi-iteration. The simulation analysis based dynamic characteristic design method has the advantages that a strength and dynamic characteristic simulation analysis method is combined with the design optimization of the robot structures, defects and redundancies of the design can be exposed accurately in a robot structural design stage, improved structures are guided and designed effectively according to simulation analysis results, and the robot structural design can achieve best optimized results through repeated iterative calculation, so that the situation that robot functional performance may not meet requirements due to the structural design in engineering can be avoided as much as possible, and robots can meet requirements on lightweight structures.
Description
Technical field
The present invention relates to a kind of robot architecture's method for designing, particularly relate to a kind of robot architecture's dynamic properties design method based on simulation analysis, belong to mechanical design field.
Background technology
Along with the continuous of computer technology is developed to intelligent direction, the continuous expansion in robot application field and in-depth, industrial robot has become a kind of new high-tech industry, for industrial automation level has played great function, by to produce future and social development plays a part more and more important.Usually, robot is widely used in electronic product, as fields such as auto industry, plastics industry, pharmaceutical industries and food industry, moving to take, assembling, spraying for completing, the operation such as welding, to replace manual operation, thus enhances productivity.
Industrial robot structure design is an important step in industrial robot design, the quality of structural design directly affects function and the performance of robot, particularly in recent years under robot architecture meets the condition of intensity, rigidity, the requirement of light-duty design is more and more higher.But, the basic reference by external robot architecture's design experiences of current domestic existing industrial robot structure design, this mode can not fundamentally grasp robot architecture's method for designing, is also difficult to the direction finding structure to be optimized accurately in robot architecture's design process.
Summary of the invention
The present invention is directed to the problem that accurately cannot find design optimization direction in current domestic industry robot architecture design, by introducing intensity and Dynamic Response Simulation analytical approach, the stress distribution of computation structure under ultimate load and eigenfrequncies and vibration models, utilize analysis result, while check structural strength and rigidity, adjustment modified node method layout, carry out iterative analysis calculating, finally seek optimized topology layout, thus reach the object of structure loss of weight design optimization, a kind of robot architecture's dynamic properties design method based on simulation analysis is provided.
For solving the problem, the technical solution used in the present invention is as follows:
Based on robot architecture's dynamic properties design method of simulation analysis, comprise the following steps:
1) utilize Three-dimensional Design Software, set up the three-dimensional model of robot main force support structure;
2) utilize finite-element preprocessing software, set up the grid model of robot main force support structure;
3) grid model of structure is imported in intensive analysis software, apply ultimate load that structure bears in robot practical work process and restrained boundary condition, the stress distribution of computation structure, Displacements Distribution simultaneously;
4) grid model of structure is imported in the Dynamic Response software, and by the quality of robot load and miscellaneous part, barycenter, moment of inertia parameter equivalent be applied in grid model, apply edge-restraint condition, the eigenfrequncies and vibration models of computation structure simultaneously;
5) stress distribution, the Displacements Distribution that draw of analytic intensity result of calculation, whether the intensity of comparison structure material meets the demands; Analyze the structural natural frequencies of calculation of dynamic response, the vibration shape simultaneously, whether close with frequency of operation, closely with frequency of operation easily to resonate;
6) according to the figure of analysis result and structure stress distribution, vibration shape distribution, design is optimized to structure, the place of structural weak, the place that do not meet the demands are strengthened, to crossing intensity, cross the place of rigidity Design and weaken;
7) structure after Optimal improvements is re-started simulation calculation, whether the result of checking after optimizing meets design requirement, and eventually through taking turns iteration, designs the robot architecture met the demands more.
Further, described Three-dimensional Design Software is PRO/E, Solidworks or CATIA.
Further, described finite-element preprocessing software is Hypemesh or MSC.Patran.
Further, described intensive analysis software is Ansys Workbench or Abaqus.
Further, described the Dynamic Response software is MSC.Patran/Nastran or Ansys Workbench.
Further, the main force support structure of described robot is arm, motor mounting rack or other load-carrying construction.
Further, described ultimate load is maximum, force, moment of flexure and moment of torsion.
Further, the described vibration shape is first three rank mode.
Compared with prior art, implementation result of the present invention is as follows in the present invention:
Using degree of the present invention and simulation Analysis of Dynamic Characteristics methods combining are in robot architecture's design optimization, can in robot architecture's design phase, accurate defect and the redundancy exposing design, utilize simulation analysis result, effective design modified node method, and calculated by successive ignition, finally allow robot architecture design and reach best optimum results.Thus to avoid as far as possible in engineering because the robot functional performance that structural design likely causes situation about not meeting the demands, allow robot meet structure lightened requirement simultaneously.
Accompanying drawing explanation
Fig. 1 is a kind of robot architecture's dynamic properties design method structural representation based on simulation analysis of the present invention.
Embodiment
Below in conjunction with specific embodiments content of the present invention is described.
As shown in Figure 1, for a kind of based on robot architecture's dynamic properties design method structural representation of simulation analysis,
Comprise the following steps:
1) utilize Three-dimensional Design Software, set up the three-dimensional model of robot main force support structure;
2) utilize finite-element preprocessing software, set up the grid model of robot main force support structure;
3) grid model of structure is imported in intensive analysis software, apply ultimate load that structure bears in robot practical work process and restrained boundary condition, the stress distribution of computation structure, Displacements Distribution simultaneously;
4) grid model of structure is imported in the Dynamic Response software, and by the quality of robot load and miscellaneous part, barycenter, moment of inertia parameter equivalent be applied in grid model, apply edge-restraint condition, the eigenfrequncies and vibration models of computation structure simultaneously;
5) stress distribution, the Displacements Distribution that draw of analytic intensity result of calculation, whether the intensity of comparison structure material meets the demands; Analyze the structural natural frequencies of calculation of dynamic response, the vibration shape simultaneously, whether close with frequency of operation, closely with frequency of operation easily to resonate;
6) according to the figure of analysis result and structure stress distribution, vibration shape distribution, design is optimized to structure, the place of structural weak, the place that do not meet the demands are strengthened, to crossing intensity, cross the place of rigidity Design and weaken;
7) structure after Optimal improvements is re-started simulation calculation, whether the result of checking after optimizing meets design requirement, and eventually through taking turns iteration, designs the robot architecture met the demands more.
Further, described Three-dimensional Design Software is PRO/E, Solidworks or CATIA.
Further, described finite-element preprocessing software is Hypemesh or MSC.Patran.
Further, described intensive analysis software is Ansys Workbench or Abaqus.
Further, described the Dynamic Response software is MSC.Patran/Nastran or Ansys Workbench.
Further, the main force support structure of described robot is arm, motor mounting rack or other load-carrying construction.
Further, described ultimate load is maximum, force, moment of flexure and moment of torsion.
Further, the described vibration shape is first three rank mode.
Six-shaft industrial robot structural design optimization method based on emulation is in robot architecture's design optimization by structural strength and simulation Analysis of Dynamic Characteristics methods combining, by setting up three-dimensional model successively to each main force support structure of robot, Finite Element Simulation Analysis model, the maximal work load that dummy robot's structure is actual bears and boundary condition, be applied in realistic model, calculate the stress distribution of each main force support structure of robot respectively, natural frequency, the vibration shape, then according to result of calculation, the intensity of comparative analysis structure, whether rigidity meets design requirement, or whether surplus is excessive for structural design, the result of foundation simulation calculation and analysis again, place excessive for surplus in structure is weakened, the place of intensity and toughness deficiency is strengthened, carry out topology layout Curve guide impeller, simulation analysis is re-started after finally improving, check the result improved, through iterative analysis and the structure optimization of many like this wheels, robot architecture is designed and reaches optimal optimum results.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1., based on robot architecture's dynamic properties design method of simulation analysis, it is characterized in that, comprise the following steps:
1) utilize Three-dimensional Design Software, set up the three-dimensional model of robot main force support structure;
2) utilize finite-element preprocessing software, set up the grid model of robot main force support structure;
3) grid model of structure is imported in intensive analysis software, apply ultimate load that structure bears in robot practical work process and restrained boundary condition, the stress distribution of computation structure, Displacements Distribution simultaneously;
4) grid model of structure is imported in the Dynamic Response software, and by the quality of robot load and miscellaneous part, barycenter, moment of inertia parameter equivalent be applied in grid model, apply edge-restraint condition, the eigenfrequncies and vibration models of computation structure simultaneously;
5) stress distribution, the Displacements Distribution that draw of analytic intensity result of calculation, whether the intensity of comparison structure material meets the demands; Analyze the structural natural frequencies of calculation of dynamic response, the vibration shape simultaneously, whether close with frequency of operation, closely with frequency of operation easily to resonate;
6) according to the figure of analysis result and structure stress distribution, vibration shape distribution, design is optimized to structure, the place of structural weak, the place that do not meet the demands are strengthened, to crossing intensity, cross the place of rigidity Design and weaken;
7) structure after Optimal improvements is re-started simulation calculation, whether the result of checking after optimizing meets design requirement, and eventually through taking turns iteration, designs the robot architecture met the demands more.
2. a kind of robot architecture's dynamic properties design method based on simulation analysis according to claim 1, it is characterized in that, described Three-dimensional Design Software is PRO/E, Solidworks or CATIA.
3. a kind of robot architecture's dynamic properties design method based on simulation analysis according to claim 1, it is characterized in that, described finite-element preprocessing software is Hypemesh or MSC.Patran.
4. a kind of robot architecture's dynamic properties design method based on simulation analysis according to claim 1, it is characterized in that, described intensive analysis software is Ansys Workbench or Abaqus.
5. a kind of robot architecture's dynamic properties design method based on simulation analysis according to claim 1, it is characterized in that, described the Dynamic Response software is MSC.Patran/Nastran or Ansys Workbench.
6. a kind of robot architecture's dynamic properties design method based on simulation analysis according to claim 1, it is characterized in that, the main force support structure of described robot is arm, motor mounting rack or other load-carrying construction.
7. a kind of robot architecture's dynamic properties design method based on simulation analysis according to claim 1, it is characterized in that, described ultimate load is maximum, force, moment of flexure and moment of torsion.
8. a kind of robot architecture's dynamic properties design method based on simulation analysis according to claim 1, it is characterized in that, the described vibration shape is first three rank mode.
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| CN105313336A (en) * | 2015-10-27 | 2016-02-10 | 杭州师范大学 | Thin-shell 3D printing optimizing method |
| CN106570277A (en) * | 2016-11-08 | 2017-04-19 | 广西电网有限责任公司电力科学研究院 | Method for excitation system simulation verifying calculation |
| CN106802979A (en) * | 2016-12-26 | 2017-06-06 | 南京熊猫电子股份有限公司 | Based on finite element analysis welding robot Model Simplification Method |
| CN107273558A (en) * | 2016-04-08 | 2017-10-20 | 西门子公司 | The method and apparatus that mechanical performance for threedimensional model is verified |
| CN107665278A (en) * | 2017-09-25 | 2018-02-06 | 湖南大学 | A kind of mandrel strength optimum design method of large-scale directly driven wind-powered unit |
| CN111037573A (en) * | 2020-01-08 | 2020-04-21 | 山东理工大学 | Vibration suppression method for humanoid flexible joint arm |
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| CN105313336A (en) * | 2015-10-27 | 2016-02-10 | 杭州师范大学 | Thin-shell 3D printing optimizing method |
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| CN107273558A (en) * | 2016-04-08 | 2017-10-20 | 西门子公司 | The method and apparatus that mechanical performance for threedimensional model is verified |
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| CN106570277A (en) * | 2016-11-08 | 2017-04-19 | 广西电网有限责任公司电力科学研究院 | Method for excitation system simulation verifying calculation |
| CN106802979A (en) * | 2016-12-26 | 2017-06-06 | 南京熊猫电子股份有限公司 | Based on finite element analysis welding robot Model Simplification Method |
| CN107665278A (en) * | 2017-09-25 | 2018-02-06 | 湖南大学 | A kind of mandrel strength optimum design method of large-scale directly driven wind-powered unit |
| CN107665278B (en) * | 2017-09-25 | 2019-07-26 | 湖南大学 | A kind of mandrel strength optimum design method of the directly driven wind-powered unit of large size |
| CN111037573A (en) * | 2020-01-08 | 2020-04-21 | 山东理工大学 | Vibration suppression method for humanoid flexible joint arm |
| CN111037573B (en) * | 2020-01-08 | 2022-09-30 | 山东理工大学 | Vibration suppression method for humanoid flexible joint arm |
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