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针对浓香型白酒固态发酵在酿造过程中翻曲量劳动强度较大的问题,设计研究了悬挂式翻曲机器人。为获得较好的动力学性能,运用Adams软件对机器人进行动力学仿真分析,得到相关构件运行过程中受力曲线图。分析得知,机器人大小臂动态特性对其末端执行器的运动精度影响最大,因此,有必要对其做出优化改进。在保证机器人大小臂的强度和刚度满足设计要求下,通过Workbench优化模块对其大小臂结构进行轻量化设计改进研究。结果表明:优化后的大小臂在满足力学性能的情况下,质量分别减小10.3%及20.05%,优化效果明显,力学性能亦得到相应的改善。
In order to solve the problem of the labor intensity of the volume of turnover during the fermentation of Luzhou-flavor white spirit in the brewing process, the hanging-type turning robot is designed and studied. In order to obtain better kinetic performance, the dynamics simulation analysis of the robot was carried out by using Adams software to get the force curve of the relevant components during operation. The analysis shows that the dynamic characteristics of the robot arm affect the end-effector’s motion accuracy the most, so it is necessary to make optimization and improvement. In order to ensure that the strength and stiffness of the robot arms meet the design requirements, the workbench optimization module is used to study the lightweight design of the arm structure. The results show that the mass of the optimized arms decreases by 10.3% and 20.05%, respectively, and the optimized effect is obvious and the mechanical properties are also improved accordingly.