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为适应工业机器人高速、重载、高精度的要求,以工业机械臂的瞬变过程为研究对象,提出以末端执行器的振幅判断机器人在瞬变过程中的动态性能,利用多体动力学和有限元的方法建立刚柔耦合模型,对工业机器人在整个作业过程中的动态特性进行描述和分析,仿真计算工业机器人在振幅最大时刻的应力分布及危险区域节点的应力变化,为机器人的动态性能评估、疲劳强度分析和寿命预测提供了依据。
In order to meet the requirements of high speed, heavy load and high precision of industrial robots, taking the transient process of industrial robots as the research object, the dynamic performance of robots during transient process is judged by the amplitude of the end effector. The finite element method is used to establish the rigid-flexible coupling model to describe and analyze the dynamic characteristics of the industrial robot during the whole operation. The stress distribution of the industrial robot at the maximum amplitude and the stress change of the nodes in the dangerous area are simulated. Assessment, fatigue strength analysis and life prediction provided the basis.