在长臂机械手手臂结构设计中,除考虑强度问题外,还要考虑刚度问题,即机械手在抓起工件后,手臂受力会产生变形,要使机械手满足位置精度要求,必须控制机械手手臂在受力后的变形值,使它在允许范围内。本文采用梁单元的有限元法,着重介绍了截面尺寸不同的长臂机构手手臂的静、动态特性分析程序设计及计算实例。 In the long arm manipulator arm structure design, in addition to consider the strength of the problem, but also consider the stiffness problem, that is, after the manipulator grips the workpiece, the arm will be deformed by force, to make the manipulator meet the requirements of position accuracy, must control the arm of the manipulator Force after the deformation value, it is within the allowable range. In this paper, the finite element method of beam element is used, and the static and dynamic characteristics analysis program design and calculation examples of the arm of long arm mechanism with different sectional dimensions are emphatically introduced.