搬运机器人混联机构静态受力及变形分析.pdfVIP

摘 要 搬运机器人混联机构静态受力 与变形分析 学 科 机械制造及自动化 作者姓名 包邻梅 （签名） 导师姓名、职称 黄玉美 教授、博导 （签名） 指导教师 高 峰 讲 师 (签名） 答辩日期 摘 要 本论文主要对搬运机器人混联机构的静态受力及其变形进行了解析研究。在受 力分析时，本文利用边界元法和机械系统合成的结合部理论合成杆件系统，并将构 件作为柔性体，对搬运机器人混联机构进行静力学建模，并对其进行受力及变形分 析。讨论了几种合成方式，并用图的方法对混联机构进行了数学上的描述。最后， 给出了搬运机器人混联机构的受力及变形的运算实例。 此外，为了提高机器人机械结构的静力学建模精度，本论文还对多约束柔性边 界杆件及空间板单元结构进行了解析研究，建立了相应的边界元方程，为空间板单 元组合结构及板梁合成的引入及研究打下了基础。 关键词：搬运机器人 混联机构 边界元法 机械系统 合成方式 ANALYSIS OF THE STATIC FORCE AND DISTORTION OF THE HYBRID MECHANISM OF THE CONVEYED ROBOT Author Bao Linmei Signature Tutor Huang Yumei Signature Gao Feng Signature ABSTRACT The paper studies the static force and distortion of the hybrid mechanism of the conveyed robot. When analyses the static force, this paper uses the boundary element method and the combined theory of mechanic system to compound the staffs system, and regards the component as elastic body, thus the static model of the hybrid mechanism is built, then, analysis their mechanic instance and distortion. Several kinds of compound methods are discussed, and the hybrid mechanism is described in mathematics by chart. Finally the example of the static strength and distortion of the hybrid mechanism of the conveyed robot at a certain posture is given out. Furthermore, in order to improve the modeling accuracy of the whole robot structure, the elastic boundary pole with multi-restriction and the spatial lamella are study in this paper by using BEM ，and the boundary integral equations are set up. This lays foundations for introducing the spatial elements combined structure and the composed configure of the staff and plate, which has much application values. Key words