Dynamic Analysis And Simulation Of Flexible Production Handling Robots

With the development of economy and society, there is a series of problems such as the increase of the human cost, the shortage of labor resources and so on. Therefore, the industrial robots which have high degree of automation begun to be widely used. In production, a lot of use of industrial robots has many advantages, it can improve working conditions and reduce the consumption of raw materials, increase standardization and quality of production of goods, help accelerate the upgrading speed, significantly improve labor productivity, at the same time it can work in the environment of high temperature,high pressure and high pollution and so on.FMS is a advanced manufacturing system which is suitable for a variety of products,small single batch production,high degree of flexibility,and the high level of automation.In production of flexibility, the movement of handling robot is flexible, especially 6-DOF robot has very good handling flexible, so it can improve the working conditions of workers, save raw materials, accelerate the replacement rate products, significantly increase productivity. In this paper, the researches about dynamics of flexible production handling robot are as follows:First, define the main content.In this paper, there are kinematics analysis,dynamic analysis,the design of structure,the establishment of model,the dynamics simulation with ADAMS and the finite element analysis of extreme positions about handing robot of flexible production.Second, this paper has completed the establishment of a theoretical model of the kinematics and dynamics about the handling robots of flexible production.In this paper,the solution of kinematics which has positive and inverse solution is finished by D-H coordinates method,and they need to be verified,the derivation of robots, dynamics equations has been finished by using Lagrange equation..Third, the stiffness problem of the overal and key parts which belong to the handing robot of flexible production has been finished.The three-dimensional modeling of handling robots of flexible production has been established with the software of SolidWorks, and design requirements and considerations are described.According to the space of motion that belongs to the handling robot of flexible production,the extreme position of robot is selected,HyperMesh finite element analysis software, the meshing of the robot model and setting conditions should be finished by the software of finite element analysis,HyperMesh.Then,when the robot is in the condition of extreme position,please put model into ABAQUS for analysis, and the stress and displacement of overal and key parts of robot need to be analysed.Propose further optimization based on analysis results.Fourth,please set a typical operating condition for the handing robot of flexible production in ADAMS,The dynamic simulation of the robot which is in special condition should be operated under the ADAMS,and,analyze the result of simulation.