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针对汽车摩托车轮辋产品的辐条孔系加工特性,提出一种加工型机械手,将传统机械手的辅助功能与主机的加工功能复合,形成一种新概念机械手,并针对加工产品的系列化和市场需求的多变性要求,在机械手结构设计中引入了可重构概念。本文基于液压系统存在瞬态压力的前提和避免机液共振的要求,采用模态有限元分析原理和Block Lanczos算法,求解其固有振动频率及对应振型,并对机械手进行试验模态分析,两者结果的一致性为获取高稳定性、高精度的加工质量进而为机械手的结构优化奠定了理论基础。
Aiming at the processing characteristics of spoke hole system of automobile and motorcycle rim products, a processing robot is proposed to combine the auxiliary functions of the traditional manipulator and the processing functions of the host machine to form a new concept manipulator. In response to the serialization of processed products and the market demand The variability of the requirements of the mechanical structure of the introduction of the reconfigurable concept. Based on the premise of transient pressure in hydraulic system and the requirement of avoiding liquid-liquid resonance, this paper uses the principle of modal finite element analysis and Block Lanczos algorithm to solve the natural vibration frequency and its corresponding vibration mode, The consistency of the results provides a theoretical basis for obtaining high stability and high-precision machining quality and thus optimizing the structure of the manipulator.