Dynamics Simulation And Finite Element Analysis For Industrial Robot

Since 1995 when the first manipulator named Unimate was developed, the quantity of the industrial robots has been increasing in the world. From the beginning, welding has been one of the most important realms in applications of industrial robots. It can significantly improve the welding quality, enhance the work efficiency and reduce the labor intensity, production costs and requirements to the workers'operation technology by welding robots. The broad application, independent development and industrialization of welding robots are of very importance to the achievement of the world's powerful manufacturing country in the first half of the 21st century. Based on a 6R welding robots, a systematic analysis of its dynamic performance and structural characteristics are completed.At first, the link coordinate system of the robot is established by D-H method. On this basis, the kinematics equation and kinematics inverse solutions are calculated, and the Jacobian matrix is solved. Then detailed statics and dynamics are analyzed; The kinematics simulation model of the robot is designed by the Robotic Toolbox and the relationship between the position and pose matrix and robot joint variables is reflected directly by visual simulation. A reference is provided for the 3D graphics simulation of robots. The dynamics simulation models of the robot are also developed in Matlab/Simulink, corresponding Matlab programs are programmed, and the curve of the robot's joints torques are plotted in the process of movement by the simulation. A reference is provided for optimal and real-time control of the robot, also datas are provided for choosing motors, bearings and etc reasonably.Aim at the structure optimal design of manipulators, the parts which bear great burden are selected and some necessary simplifications of structure of the parts are performed. Finite element models of the parts are designed. The most dangerous force status is defined as the situation of analysis, static finite element analysis of the parts is performed, the distributing nephograms of stress and deformations of each structure are attained and the most displacements in the dangerous status are obtained. The local rigidities of the robot are evaluated according to deformation results.Finally, the modal analyses for the structures are completed. The former six modes of the parts are extracted, the different modes and characteristics of vibrating are studied and the low order natural frequencies are obtained. Related datas are provided to avoid operation in the vicinity of the resonant frequencies, the key modal parameteres are provided for the whole response analysis, and the theory basis is also provided for ameliorating the design of the structures of the robot at the same time.