Analysis of Static Stiffness and Dynamic Characteristic of a New Pipe Handling Robot
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 qu...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-08-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.08.021 |
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| Summary: | 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. |
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| ISSN: | 1004-2539 |