关键词: 搬运机械手, 动力学, 联合仿真, 稳定性

Abstract: As an important part of the sound-absorbing board packing device, the efficiency and operational stability of carrying manipulator play a decisive role on packing. When the natural frequency of carrying manipulator is close to the excitation frequency of motor, the carrying manipulator will shake violently. In response to above problems, we put joint dynamic simulation analysis of ADAMS and ANSYS Workbench on the carrying manipulator which is in use. We got the important components’ stress situation with the acceleration time of 0.1 s and the low-order natural frequency of the traverse key displacement in return. And on this basis we carried out partial optimization of relevant parameters and structural improvement. After then, we put simulation analysis on the carrying manipulator under the same conditions again and verified in engineering practice. Analysis and verification results show: The results of simulation have an important engineering significance to guide the installation and commissioning works on-site.

Key words: carrying manipulator, dynamic, joint simulation, stability