高速重载码垛机器人静刚度分析

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The thesis analyzes the stiffness at the end of the high-speed heavy-load palletizing robot,taking the structure deformation and servo motor and RV reducer deformation into consideration comprehensively. The actuator deformation under load is decom- posed into the structure deformation and deformation of servo motor and RV reducer firstly, then the stiffness model of the whole sys- tem is established by composing all the deformation with the principle of linear superposition. A more complete idea is provided for static stiffness analysis of heavy-load robot and a powerful basis is given to the design of palletizing robot in the research method.以娃哈哈公司饮料生产线上的高速重栽码垛机器人为研究对象，在综合考虑自身构件变形、驱动电动机和减速机变形的基础上，对其末端静刚度进行了分析。通过把末端执行器在受到载荷时产生的变形分解为各构件的拉压变形、弯曲变形以及电动机和减速机的扭转变形，然后借助线性叠加原理建立整机末端静刚度模型。所提出的研究方法为重载串联机器人静刚度分析提供了更加完善的思路，为码垛机器人的设计提供了有力依据。