CAJ | 학술논문

为了减小某直角坐标载运机器人工作时的振动,运用ANSYS有限元软件对机器人进行了模态分析,求出了表征机器人振动特性的6阶振型、固有振动频率和相应的应变云图,分析了各阶振型的特点及其对机器人结构的影响. 根据计算结果,总结了机器人在运行过程中应该注意的问题,并提出了相应的结构改进方案.
위료감소모직각좌표재운궤기인공작시적진동,운용ANSYS유한원연건대궤기인진행료모태분석,구출료표정궤기인진동특성적6계진형、고유진동빈솔화상응적응변운도,분석료각계진형적특점급기대궤기인결구적영향. 근거계산결과,총결료궤기인재운행과정중응해주의적문제,병제출료상응적결구개진방안.
In order to reduce vibration by a cartesian carrying robot at work,the finite element software ANSYS was used to execute modal analysis.The main six order vibration modes,natural vibration frequency and the corresponding strain contours have been obtained.The characteristics of various order vibration modes and their influences on the robot structure have been analyzed.According to the calculation results, problems to be noted in the process of running were summarized,and corresponding structural improvements were proposed.