重载铸造机器人抓手的设计与有限元分析.pdfVIP

HotWorkingTechnology2019,Vol.48,No.l

•铸造技术・

重载铸造机器人抓手的设计与有限元分析

王成军，王鹏，郭永存

(安徽理工大学机械工程学院，安徽淮南232001)

摘要：针对现有机器人抓手只能连续抓取单一规格或规整形状的铸件或型芯的问题，设计了一种可抓取不同规

格铸件的重载铸造机器人用多指异步可翻转式机器人抓手。运用Creo软件建立了重载铸造机器人用多指异步可翻转

式抓手的三维实体模型，利用ANSYSWorkbench软件对在抓取和翻转两种不同工况下的抓手进行了静力学分析。根

据分析结果对抓手进行了设计优化，并对优化后的模型进行了疲劳分析。结果表明，优化模型优于最初设计模型并满足

作业要求。结果能为重载铸造机器人抓手的设计提供参考。

关键词：重载铸造机器人；抓手;有限元分析;结构优化；疲劳分析

DOI:10.14158刀・cnki・1001-3814.2019.01.020

中图分类号:TG231.1文献标识码：A文章编号:1001-3814(2019)01-0082-04

DesignandFiniteElementAnalysisoHeavy-dutyCastingRobotGripper

WANGChengjun,WANGPeng,GUOYongcun

(SchoolofMechanicalEngineering,AnhuiUniversityofScienceandTechnology,Huainan232001,China)

Abstract:Aimingattheproblemthatexistingroboticgrippercanonlycontinuouslygrasinglespecificationor

regular-shapedcastingsorcores,amulti-fingeredasynchronousandreversiblerobotgraforheavydutycastingrobotthatcan

gracastingsofdifferentsizeswasdesigned.Three-dimensionalsolidmodelofreversiblemulti-fingerasynchronousgripper

forheavydutycastingrobotwasestablishedbyusingCreosoftware.Thestaticanalysisofthegripperundertwodifferent

workingconditionsofgrippingandoverturningwasperformedbyANSYAWorkbenchsoftware.Accordingtotheanalysis

results,thedesignofthegripperwasoptimized,andthefatigueanalysisoftheoptimizedmodelwascarriedout.Theresults

showthattheoptimizationmodelissuperiortotheoriginaldesignmodelanditmeetstherequirementsoftheoperation.The

resultscanprovidereferenceforthedesignofheavydutycastingrobotgripper.

Keywords:heavy-dutycastingrobot;gripper;finiteelementanalysis;s