大学生机器人有限元分析毕业论文：以机器人臂设计为例

Abstract

With the development of science and technology, the field of robotics has been growing rapidly, and the study of finite element analysis has become an important aspect of the development of robotics. This paper aims to explore the finite element analysis of robots, and the design and construction of a robot arm is used as an example to demonstrate the application of finite element analysis in the design process. The paper mainly includes the following aspects: the introduction of the basic theory of finite element analysis, the selection of finite element software and modeling methods, the establishment of finite element models, the simulation of stress and deformation, and the optimization of the design. Finally, the paper draws a conclusion on the application and significance of finite element analysis in the design of robots.

Keywords: finite element analysis, robot arm, stress, deformation, optimization

摘要

随着科学技术的发展，机器人领域得到了快速发展，有限元分析的研究成为机器人发展的重要方面。本文旨在探讨机器人的有限元分析，以机器人臂的设计和构造为例，展示有限元分析在设计过程中的应用。本文主要包括以下几个方面：有限元分析的基本理论介绍、有限元软件和建模方法的选择、有限元模型的建立、应力和变形的模拟、设计的优化。最后，本文对有限元分析在机器人设计中的应用和意义进行了总结。

关键词：有限元分析、机器人臂、应力、变形、优化

Chapter 1 Introduction

1.1 Background

With the development of science and technology, robots have become an indispensable part of modern society. The design and construction of robots are complex and require multiple disciplines to work together. Finite element analysis is one of the important tools for the design and construction of robots. It can simulate and analyze the stress and deformation of robots, which can help to optimize the structure and improve the performance of robots.

1.2 Research objectives

The main goal of this paper is to explore the application of finite element analysis in the design and construction of robots. Using the example of a robot arm, this paper will demonstrate the process of using finite element analysis to optimize the design of robots. The paper will also provide a theoretical foundation for the application of finite element analysis in the field of robotics.

1.3 Research methods

This paper will use the following research methods:

(1) Literature review: The paper will conduct a comprehensive review of relevant literature to provide a theoretical foundation for the application of finite element analysis in the design and construction of robots.

(2) Simulation: The paper will use finite element analysis software to simulate and analyze the stress and deformation of the robot arm, and optimize the design based on the simulation results.

(3) Experimental verification: The paper will use experimental methods to verify the accuracy of the simulation results.

1.4 Structure of the paper

The paper is structured as follows:

Chapter 2: Theoretical basis of finite element analysis

Chapter 3: Design of the robot arm

Chapter 4: Finite element analysis of the robot arm

Chapter 5: Optimization of the design

Chapter 6: Experimental verification

Chapter 7: Conclusion

Chapter 2 Theoretical basis of finite element analysis

2.1 Introduction to finite element analysis

Finite element analysis is a numerical method used to solve partial differential equations. It is widely used in engineering, physics, and other fields. The basic idea of finite element analysis is to divide the object to be analyzed into a finite number of small elements, and then use mathematical methods to solve the equations that describe the behavior of each element. Finally, the behavior of the entire object is calculated by combining the behavior of each element.

2.2 Finite element software

There are many commercial finite element analysis software packages available, such as ANSYS, ABAQUS, and COMSOL. Each software package has its advantages and disadvantages, and the selection of software depends on the specific requirements of the analysis. In this paper, ANSYS will be used for the simulation and analysis of the robot arm.

2.3 Modeling methods

The modeling method is an important aspect of finite element analysis. The accuracy of the simulation results depends on the quality of the model. There are two main modeling methods: solid modeling and surface modeling. Solid modeling is suitable for objects with a simple shape, while surface modeling is suitable for objects with a complex shape. In this paper, solid modeling will be used to model the robot arm.

2.4 Boundary conditions

Boundary conditions are the constraints imposed on the model during the simulation. They include fixed supports, loads, and displacements. The selection of boundary conditions depends on the specific requirements of the analysis. In this paper, the boundary conditions for the robot arm will be determined based on the actual working conditions of the arm.

Chapter 3 Design of the robot arm

3.1 Design requirements

The robot arm is designed to perform a pick-and-place operation in a manufacturing environment. The arm is required to have a maximum reach of 1 meter and a maximum payload of 5 kilograms. The arm should be able to move in three dimensions and have a high degree of accuracy.

3.2 Design process

The design process of the robot arm includes the following steps:

(1) Conceptual design: This step involves defining the basic structure and dimensions of the arm based on the design requirements.

(2) Detail design: This step involves the detailed design of each component of the arm, including the joints, links, and end effector.

(3) Assembly: This step involves assembling the components to form the complete arm.

(4) Testing: This step involves testing the arm to ensure that it meets the design requirements.

Chapter 4 Finite element analysis of the robot arm

4.1 Model preparation

The robot arm is modeled using solid modeling. The model is divided into several elements to simulate the behavior of the arm under different conditions. The model is then imported into ANSYS for simulation.

4.2 Simulation of stress and deformation

The simulation of stress and deformation is carried out by applying loads and boundary conditions to the model. The simulation results are used to analyze the behavior of the arm under different loads and to optimize the design.

4.3 Optimization of the design

The simulation results are used to optimize the design of the robot arm. The optimization includes the selection of materials, the modification of the geometry, and the adjustment of the boundary conditions. The optimized design is then tested to ensure that it meets the design requirements.

Chapter 5 Optimization of the design

The simulation results show that the initial design of the robot arm has a high stress concentration at the joints. To reduce the stress concentration, the geometry of the joints is modified, and the material of the arm is changed to a higher strength material. The modified design is then simulated, and the results show that the stress concentration is reduced, and the arm meets the design requirements.

Chapter 6 Experimental verification

The optimized design of the robot arm is manufactured and tested to verify the accuracy of the simulation results. The test results show that the arm meets the design requirements and has a high degree of accuracy.

Chapter 7 Conclusion

This paper explores the application of finite element analysis in the design and construction of robots. Using the example of a robot arm, the paper demonstrates the process of using finite element analysis to optimize the design of robots. The paper also provides a theoretical foundation for the application of finite element analysis in the field of robotics. The results show that finite element analysis is an effective tool for the design and construction of robots, and can help to optimize the structure and improve the performance of robots.