SCARA機器人小臂結構特性分析.pdf

1、SCARA機器人小臂結構特性分析StructuralCharacteristicAnalysisOfTheSCARARobot’sSmallArm碩士學位論文學科專業(yè)：機械制造及其自動化研究生：張紅指導教師：王剛教授天津大學機械工程學院二零零八年八月ABSTRACTTheSCARArobotiswidelyutilizedinthefieldofelectronicelectricalhousehold，precisionmachine

2、ryandSOon，foritssmallinsizeandsimpleprincipleWiththeaccretionofdemandandprogressoftechnique，theSCARArobotwillbedevelopedquicklyFortheindustrializationofourcountry’Sassemblyrobotassoonaspossible，thefulltheoreticalanalysis

3、andoptimizationtotheSCARArobot’SstructureandcapabilityisurgentlyneededfordesignandtheproductionunitSo，studyandapplytheadvancedmethodofanalysisandcalculationsolvetheproblemofoptimizationoftheSCARArobot’Sstructure，whichisv

4、eryimportantandvaluableTmSarticle’SattentionisconcentratedonthesmallalTlloftheSCARArobotFirstlystudythetheoriesofelasticityandfiniteelementanalysis，whichisthefoundationofanalysisthesmallarlTl’sstructure；Then，buildamodelo

5、fthesmallartnwiththeANSYSsoftware，andanalysisthestaticsofitsstructure，studythedistributionofstressandstrainanalysistheintensityandrigiditywhichprovideabasisfortheoptimumdesignofstructure；Andthen，themodelanalysisofsmallan

6、niscarriedOilwiththeANSYSSOftwarebasedOnthetheoryofmodalanalysis，thenthefirstfivestepnaturalfrequencyandvibrationmodeistogetFinallybyusingtheoptimizationfunctionoftheANSYSsoftware，thesectiondimensionsofthesmallarmisoptim

7、ized，thustheweightofthesmallannisreducedThecomputedresultindicatedthatfiniteelementmodelisreasonable。theresultofthestaticstateandthedynamicanalysisisaccurate，theeffectofoptimizationisobvious，whichprovideatheoreticallybas