【摘要】 针对机械臂的设计特点和技术难点,对机械臂的本体结构进行了研究,提出了一种全新的模块化设计方法,该方法通过Solidworks建立了机械臂三维模型,进行了模块化机械臂伺服单元的设计。首先,对机械臂的电机和谐波减速器进行了选型,通过实验计算了不同关节角度的转矩,确定了最终的选择方案;然后,利用Ansysworkbench对机械臂的关键零部件进行了有限元分析,得出了机械臂第二关节等重要部件的应力和位移云图,从体积布局以及工作模式等角度进行了硬件设计,采用闭环控制算法和力反馈算法开发方案,实现了三闭环的伺服电机控制和一体化伺服驱动单元的力反馈;最后,在结构和算法的基础上开发出了OUR系列模块化机械臂。研究结果表明,关键零部件具有较大的刚度和强度,各关节具有高度的独立化和模块化。更多还原

【Abstract】 Aiming at the design features and technical difficulties,the main body structure of the manipulator was studied. A new modular design method was put forward,which is based on Solidworks,and the design of modular manipulator servo unit was carried out. The motor and harmonic reducer of manipulator were selected. The torque of different joint angles was calculated and the final selection scheme was determined. The finite element analysis of the key parts of the manipulator was made by using Ansysworkbench,and the stress and displacement contour of the important parts such as the second joints of the manipulator were obtained. The hardware design was carried out from the angle of volume layout and working mode. Closed loop control algorithm and force feedback algorithm were used to realize the force feedback of three closed loop servo motor control and integrated servo drive unit. Finally,based on the structure and algorithm,a series of OUR modular manipulators were developed. The research results indicate that the key components have large stiffness and strength,each joint has a high degree of independence and modularization.更多还原