- 期刊
虛擬動態模擬分析軟體於機器人機械手臂機構設計之研究
Appling ADAMS in the Mechanism Design of Robot Manipulator Arm
摘要
本文主要是針對機器人機械手臂的結構進行設計，重點為分析機械手臂的機構和運動之間的運動狀況，首先對所設計的機器人機械手臂完成小臂揮動、大臂的運動及轉檯的旋轉三個自由度的系統。接著整合機械手臂的液壓系統與電磁元件的循序動作後，再以虛擬動態模擬分析軟體對進行運動軌跡模擬分析。經由大臂、小臂及旋轉裝置和驅動裝置相互配合達到順利地運轉驅動。最後使用ANSYS對機械手臂機構進行靜力學的理論分析，以符合整體機構應力設計的要求。所得的結果可以使機械手臂機構設計能夠完整的運行，並且符合設計時的機構強度要求。
並列摘要
The purpose of this paper is to design the structure of the robot manipulator. Firstly, it analyzes the mechanism of the manipulator and the motion related to the motion, so that the designed robot manipulator has three degrees of freedom: small arm swing, big arm movement and turntable rotation. The whole system design will use the hydraulic system schematic diagram of the manipulator and the action sequence table of electromagnetic components, and then use automatic dynamic analysisof mechanical systems software to simulate and analyze its motion trajectory. Through the cooperation of the big arm, the small arm, the rotating device and the driving device, it can run smoothly. Finally, ANSYS is used to analyze the mechanical arm mechanism statically to meet the requirements of the whole mechanism stress design. The simulation results can make the mechanical arm mechanism design complete operation and meet the requirements of mechanism strength.
延伸閱讀
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