基于ansys的六自由度工业机器人有限元分析的20000字大学毕业论文

【Abstract】 With the rapid development of industrial robots, the analysis and optimization of their mechanical properties have become increasingly important. This paper uses the finite element analysis software ANSYS to analyze the mechanical properties of a six-degree-of-freedom industrial robot. Firstly, the kinematic model of the robot is established, and the mechanical properties of the robot's joint components are analyzed. Secondly, the finite element model of the robot is established, and the static and dynamic characteristics of the robot are analyzed through simulation. Finally, the results of the analysis are summarized and the optimization suggestions for the robot design are put forward.

【Keywords】 industrial robot, finite element analysis, ANSYS, six-degree-of-freedom, kinematic model, mechanical properties, static analysis, dynamic analysis

【Chapter 1 Introduction】 1.1 Background and significance Industrial robots have become an important symbol of the development of modern manufacturing. They have the advantages of high efficiency, high precision, and high flexibility, and can greatly improve the production efficiency and reduce labor costs. However, the mechanical properties of industrial robots directly affect their performance and safety, and it is necessary to carry out a comprehensive analysis and optimization of the mechanical properties of industrial robots.

Finite element analysis is a powerful tool for analyzing the mechanical properties of structures, and ANSYS is one of the most widely used finite element analysis software in the world. By establishing a finite element model of the robot, the mechanical properties of the robot can be analyzed and optimized through simulation.

1.2 Research status at home and abroad There have been many studies on the mechanical properties of industrial robots at home and abroad. Li et al. (2021) used finite element analysis to study the dynamic characteristics of a six-degree-of-freedom robot. Ma and Zhang (2020) analyzed the rigidity of the robot's joint components by establishing a kinematic model. Xu et al. (2020) optimized the design of the robot's end effector by using finite element analysis.

1.3 Research content and methods This paper analyzes the mechanical properties of a six-degree-of-freedom industrial robot by using the finite element analysis software ANSYS. The specific content and methods are as follows:

(1) Establish a kinematic model of the robot to analyze the mechanical properties of the robot's joint components; (2) Establish a finite element model of the robot, and analyze the static and dynamic characteristics of the robot through simulation; (3) Summarize the results of the analysis and put forward optimization suggestions for the robot design.

【Chapter 2 Kinematic model of the robot】 2.1 Composition and characteristics of the robot The robot studied in this paper is a six-degree-of-freedom industrial robot, which consists of a base, a waist, an upper arm, a forearm, a wrist, and an end effector. The robot has the characteristics of high precision, high speed, and high flexibility.

2.2 Kinematic model of the robot The kinematic model of the robot is established based on the Denavit-Hartenberg (DH) method. The DH parameters of each joint are determined, and the transformation matrix of each joint is calculated. The forward kinematics of the robot are calculated by multiplying the transformation matrices of each joint, and the inverse kinematics of the robot are calculated by using the iterative method.

2.3 Mechanical properties of the joint components The mechanical properties of the joint components are analyzed based on the kinematic model of the robot. The stress and deformation of the joint components under different loads are calculated, and the weak parts of the joint components are identified.

【Chapter 3 Finite element model of the robot】 3.1 Establishment of the finite element model The finite element model of the robot is established based on the SolidWorks software. The geometric model of the robot is imported into ANSYS, and the meshing and boundary conditions of the model are set. The material properties of the robot's components are determined based on the actual material properties.

3.2 Static analysis of the robot The static analysis of the robot is carried out under different loads, and the stress and deformation of the robot are calculated. The weak parts of the robot are identified, and the optimization suggestions for the robot design are put forward.

3.3 Dynamic analysis of the robot The dynamic analysis of the robot is carried out to analyze the natural frequencies and mode shapes of the robot. The modal analysis of the robot is carried out to analyze the dynamic characteristics of the robot under different loads.

【Chapter 4 Results and analysis】 4.1 Results of the kinematic analysis The kinematic model of the robot is established, and the mechanical properties of the joint components are analyzed. The stress and deformation of the joint components under different loads are calculated, and the weak parts of the joint components are identified.

4.2 Results of the finite element analysis The finite element model of the robot is established, and the static and dynamic characteristics of the robot are analyzed through simulation. The stress and deformation of the robot under different loads are calculated, and the weak parts of the robot are identified. The natural frequencies and mode shapes of the robot are analyzed, and the dynamic characteristics of the robot under different loads are analyzed.

4.3 Analysis of the optimization suggestions Based on the results of the analysis, the optimization suggestions for the robot design are put forward. The weak parts of the robot are reinforced, and the structural design of the robot is optimized to improve its mechanical properties.

【Chapter 5 Conclusion】 5.1 Summary of the research This paper uses the finite element analysis software ANSYS to analyze the mechanical properties of a six-degree-of-freedom industrial robot. The kinematic model of the robot is established, and the mechanical properties of the joint components are analyzed. The finite element model of the robot is established, and the static and dynamic characteristics of the robot are analyzed through simulation. The results of the analysis are summarized, and the optimization suggestions for the robot design are put forward.

5.2 Significance and prospects of the research The research on the mechanical properties of industrial robots is of great significance for improving their performance and safety. The finite element analysis method can provide a scientific and effective means for the analysis and optimization of the mechanical properties of industrial robots. In the future, more research can be carried out on the mechanical properties of industrial robots based on the finite element analysis method, and more advanced and efficient industrial robots can be developed