﻿ 转台式分拣装置本体静动态特性分析 The Static and Dynamic Characteristics Analysis of Table Sorting Device Ontology

Dynamical Systems and Control
Vol.06 No.02(2017), Article ID:20415,8 pages
10.12677/DSC.2017.62008

The Static and Dynamic Characteristics Analysis of Table Sorting Device Ontology

Zhijun Zhou, Zhiguo An, Ling Xue, Chaoyue Gu, Yunfeng Feng, Feng Liu, Kexian Chen

School of Mechanotronics & Vehilce Engineering, Chongqing Jiaotong University, Chongqing

Received: Apr. 6th, 2017; accepted: Apr. 26th, 2017; published: Apr. 30th, 2017

ABSTRACT

The finite element analysis of the sorting device is to simulate the real physical system by means of digital approximation, which can accurately predict the performance of the sorting device and shorten its development cycle. According to the required body structure and performance requirements, the overall design scheme and the structure of the manipulator are established. The stress and displacement cloud charts and static stiffness of the manipulator are analyzed by the turntable sorting device. The top ten-step natural frequency and main vibration type, as well as the displacement curve of a node at the end of the manipulator with the modal change are obtained, which provide the theoretical basis for the further optimization design of the weak dangerous link.

Keywords:Sorting Device, Finite Element, Statics, The Modal Analysis

1. 引言

2. 转台式分拣装置本体结构

3. 转台式分拣装置模态分析理论

(1)

——刚度矩阵(对称且正定或半正定)，——N维位移、速度和加速度响应向量；——N维激振力向量。

Figure 1. Body structure of turntable sorting device

(2)

(3)

(4)

(5)

(6)

(7)

4. 有限元模型的建立

4.1. 有限元网格的划分

4.2. 静力学分析参数的确定

Figure 2. Finite element mesh model of turret sorting device body structure

(8)

——机械臂的质量，单位：N；——抓取物对机械手内壁的摩擦力，单位：N；——机械手抓取时内壁1/2的距离，单位：mm；——机械手中心到垂直同步带滑台距离，单位：mm；经测量计算，取摩擦系数；计算得：

5. 结果与分析

5.1. 静力学分析

Figure 4. Corresponding steel, ABS material stress curves of robot, mechanical arm and horizontal timing belt slide

(a) 应力云图(b) 位移云图

Figure 5. Stress and displacement cloud charts of static analysis

5.2. 模态分析

Table 1. The top ten-step vibration table of turntable sorting device

(a) 第一阶 (b) 第二阶 (c) 第五阶(a) 第六阶 (b) 第八阶 (c) 第九阶

Figure 6. 1,2,5,6,8,9 step vibration diagram of turntable sorting device

Figure 7. Displacement curve of the manipulator end node 101458 with modal change

6. 总结

The Static and Dynamic Characteristics Analysis of Table Sorting Device Ontology[J]. 动力系统与控制, 2017, 06(02): 60-67. http://dx.doi.org/10.12677/DSC.2017.62008

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