Structure Design And Optimization Of A Polishing Actuator At The End Of Industrial Robot

Labor-intensive enterprises are faced with the problem of increasing labor costs.At the same time,the influence of intel igent manufactur ing technology in the engineering field is continuously increasing.For these reasons,the mode of replacing industrial robots by industrial robots is favored by enterprises.Among them,the application of robot grinding technology for large complex curved surface components is relatively extensive,but there is less research on the actuator at the end of the robot.In view of this,this paper develops the polishing actuator for the end of industrial robot by finite element method and structural topology optimization technology.The main contents are as follows:By analyzing the functional requirements of the actuator,the parts design and the selection calculation of standard parts of the actuator transmission mechanism,frame structure and flange device are determined in sequence.The three-dimensional digital model of the actuator is created in drawing software,and the overall structure design of the actuator is completed.Using Hyper Mesh software and based on the actuator assembly model and the actuator rigid body model,two types of finite element modeling of the actuator are established.And the static stress solution and modal solution are completed through ANSYS software.By analyzing the solution results of the finite element simulation,we can see that the post-processing results obtained by the two modeling methods are similar.Because rigid body modeling can save 50% of pre-processing time compared to assembly modeling,actuator modeling uses rigid body modeling.And the simulation results of the actuator show that its structural design is safe and reliable.This paper adopts the basic theory of structural optimization design and uses Opti Struct software to carry out topology optimization research on the actuator frame structure and some parts.Under the premise of satisfying the strength and deformation constraints of the actuator,the structural form of the actuator side plate and the motor mounting plate is improved,and the overall weight loss of the actuator is 15.7%.The flow field simula t io n and analysis in the cavity of the vacuum hole in Fluent software is based on the standard k-epsilon double equation turbulence model created by the Navier-Stokes equation,which verifies the rationality of the structural design of the vacuum hole and found its structural design defects.Through the simulation results,this paper improves the structure design of the dust suction hole,and performs a flow field simulation on the improved dust suction hole structure.By comparing simulation results,it can be found that the dust collectio n range and negative pressure of the dust suction hole are significantly increased,indicat ing that the improved dust collection effect of the dust suction hole is more ideal,and the optimized design of the dust suction hole structure is completed.