【摘要】 一种混联码垛机器人主要由大臂和小臂组成,大臂的摆动与俯仰运动采用2-UPS/U并联构型来实现,小臂串联在大臂上。混联机器人整体刚度好、稳定性好,但并联结构的受力情况较复杂,因此需要对主要部件进行受力分析。采用ANSYS软件对混联码垛机器人的主要部件进行了受力分析,并制造了样机进行验证。更多还原

【Abstract】 A hybrid palletizing robot is mainly composed of arm and forearm. Using 2-UPS/U structure,the arm can achieved swing motion and pitch motion,and forearm series on the arm. Hybrid robot have the advantage of high stiffness and stability. Due to the force of the parallel structure is complex,we need to analyze for the main components. This article made a force analysis of main components of hybrid palletizing robot based on ANSYS,and proved it use a physical prototype.更多还原