桁架机械手支撑与补偿分析及实验研究

he Gantry manipulator is a vital part of the Flexible Processing Line, which undertakes the transportation task. More than that, it undertakes the loading and unloading task. The domestic manufacturers remain the imitation stage of the design of Gantry manipulator. We still need further research not only in the design of supporting position but also the analysis of Gantry manipulator's stiffness. The paper established the finite element model of the Gantry manipulator. The static analysis were performed on the gantry manipulator. based on practical engineering by means of Ansys. Grasp the sufficient static deformation analysis of Gantry manipulator at key positions under heavy load, in order to confirm the best supporting position, which can be used to guide the deisgn of the supporting position. The analysis were performed to gain the deformation of Gantry manipulator at various positions at the confirmed supporting position. And the deformation curve gained can be used to guide the design of compensation.