基于有限元的六自由度机械臂的模态分析.pdfVIP

吴巍基于有限元的六自由度机械臂的模态分析 (, 212016) : ANSYS, , , 6 , , : ; ; ANSYS; : TH 115 : A : 2011) M odel Analysis of 6DOFM anipulator by Finite E lem entM ethod WU W ei ( Z henjiang E el ct romechan ica l H igher Voca tiona land Tec hnica l Co lel ge, Z henjiang 212016, C h ina ) Abstract: The ANSYS is used to es tab lish 3D ni ite e lem ent mod e l o a 6DOF Ma npi ulato r. The jo ints a re smi ual ted by co up ling the de g re es o reedom o the co inc di e nodes. Then natu ra l v bi rato ry reque nc ei s and m oda l v bi rato ry mod e ls o the lowe r s xi o rd e rs a re obta ined, and the v bi rat oi n wea kness o the struc tu re is o und o u,t w h ich g ives the basis o r struc tu re mi p rovem ent. K ey words: in ite e leme nt method; m oda l ana yl sis; ANSYS; v ib ration cha racte ris tic , {x } = [ XM ] {xp }, [ XM ] 0 引言[ 1] , {xp } , ( 2) : 2 ( [ K ] - [ M ] + j[ C] ) [ XM ] {xp } = { F } ( 3) , , : [ XM ] T [ M ] [ XM ] = [ \M i \] ; [ XM ] T [ K ] [ X M ] = [ \K i \] ; , , : , , [ X ] T [ C] [ X ] = [ \C \] M M i ( 3) [ [ X M ] T :