针对多功能机器人在核环境下工作过程中频繁更换不同工作装置以适应不同场合操作的需求,设计了一款用于连接机器人工作臂与具体工作属具的工具头通用连接接口,以提高工作效率并实现一机多用。文中以B rokk400机器人为研究对象,利用Pro/E软件建立三维模型,通过Pro/E与A N SY S的接口将其导入A N SY S中,建立了通用接口的有限元模型。通过稀疏矩阵法进行求解,对其关键部位进行载荷添加,分析其强度,得出连接接口应力云图和应变图。结果表明,该工具头接口结构设计满足工作要求。
摘要(英文)：
To meet the different requirement of different occasions, multi-purpose robot under a nuclear environment has to replace working equipment frequently during operation process. A common connection interface was designed for connection between a robotic arm with the specific work of the tool head attachments, to improve the working efficiency and realize more than one machine. This paper establishes three-dimensional model of Brokk400 robot using Pro/E software.This model is imported into ANSYS through the interface between Pro/E and ANSYS. A finite element model of common interface is establish...
