CAJ | 학술논문

介绍一种六自由度工业机器人机械结构的设计，包括电机、减速器的选型，各关节部件基体及其他零件的设计。将设计好的机械结构模型导入有限元分析软件进行静态分析和模态分析，进而对模型结构进行优化。经优化，机器人结构在静力学、运动学及动力学方面均符合设计要求。该设计结构简单稳固，各零部件加工及安装方便，且增加了机器人的可重构性。
개소일충륙자유도공업궤기인궤계결구적설계，포괄전궤、감속기적선형，각관절부건기체급기타령건적설계。장설계호적궤계결구모형도입유한원분석연건진행정태분석화모태분석，진이대모형결구진행우화。경우화，궤기인결구재정역학、운동학급동역학방면균부합설계요구。해설계결구간단은고，각령부건가공급안장방편，차증가료궤기인적가중구성。
A kind of six axes industrial robot mechanical structure design was introduced,including the selection of motor and re-ducer,the design of parts in each joint unit.The mechanical model was put into the finite element analysis software to make the static analysis and modal analysis,then the mechanical structure was optimized.The robot structure is completely conformed to the design re-quirements in statics,kinematics and dynamics after the optimization.This design has simple structure,the parts machining and the installation are convenient,which make the robot more reconfigurable.