Analysis of Static Stiffness and Dynamic Characteristic of a New Pipe Handling Robot

Yan Sun; Song Li; Xiangchen Liu

doi:10.16578/j.issn.1004.2539.2021.08.021

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Analysis of Static Stiffness and Dynamic Characteristic of a New Pipe Handling Robot

Test·Analysis | 更新时间：2022-11-10

- Analysis of Static Stiffness and Dynamic Characteristic of a New Pipe Handling Robot
- Journal of Mechanical Transmission Vol. 45, Issue 8, Pages: 144-150(2021)
- 作者机构：
  
  1.沈阳航空航天大学机电工程学院，辽宁沈阳 110136
  2.航空工业沈阳飞机工业有限公司工程技术中心，辽宁沈阳 110136
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.08.021
  CLC：
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孙岩,李耸,刘香辰.新型导管搬运机器人的静刚度及动态特性分析[J].机械传动,2021,45(08):144-150.

Sun Yan,Li Song,Liu Xiangchen.Analysis of Static Stiffness and Dynamic Characteristic of a New Pipe Handling Robot[J].Journal of Mechanical Transmission,2021,45(08):144-150.
孙岩,李耸,刘香辰.新型导管搬运机器人的静刚度及动态特性分析[J].机械传动,2021,45(08):144-150. DOI： 10.16578/j.issn.1004.2539.2021.08.021.

Sun Yan,Li Song,Liu Xiangchen.Analysis of Static Stiffness and Dynamic Characteristic of a New Pipe Handling Robot[J].Journal of Mechanical Transmission,2021,45(08):144-150. DOI： 10.16578/j.issn.1004.2539.2021.08.021.

摘要

为提高航空导管的加工效率，配合数控弯管机进行直管弯曲加工工作，设计了一种新型三坐标式导管搬运机器人。该机器人在搬运导管的工作过程中，其静刚度与动态特性是影响工作质量与精度的重要因素。针对该三坐标式搬运机器人的特点，利用旋量理论求解出该机器人的雅可比矩阵；利用有限元仿真软件对其进行静刚度分析，找出机器人工作的极限位姿，并对该机器人位姿进行模态仿真分析；结合静刚度映射理论对其进行静刚度辨识试验并求解出其刚度矩阵，进行了模态试验；试验分析结果与仿真结果进行对比，误差均不超过10%，验证了所建立模型的有效性。从而保证了搬运机器人较高的工作质量与连续性。

Abstract

In order to improve the processing efficiency of aviation conduit， a new type of three coordinate conduit handling robot is designed to cooperate with the CNC pipe bender for straight pipe bending. The static stiffness and dynamic characteristics of the robot are important factors that affect the quality and accuracy of the work. According to the characteristics of the three coordinate type handling robot， the Jacobian matrix of the robot is solved by using the screw theory， the static stiffness of the robot is analyzed by using the finite element simulation software to find out the limit pose of the robot， and the modal simulation analysis of the robot is carried out. Combining with the static stiffness mapping theory， the static stiffness identification test is carried out，and the stiffness matrix is solved， and then the modal test is carried out. Comparing the theoretical analysis results with the simulation results，the error is less than 10%，which proves the effectiveness of the model， and makes the robot maintain high quality and continuity.

关键词

搬运机器人旋量理论静刚度分析模态分析

Keywords

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