Dynamical Analysis And Vibration Suppression Of Robots Used For Injection Machines

With the development of the robot technology and the emergence of the knowledge economy, industrial robots play a very important role in the modern manufacturing in the 21st century. More and more attention is paid to the design and improvement of industrial robots. The vibration of robot arms is an important and troublesome problem. It has bad influence in accuracy error of position finding. Therefore, vibration suppression is of great importance in the trajectory tracking of a robot.In order to optimize structure design and suppress vibration of the robot used for injection machines, the ANSYS, a kind of finite element numerical analysis software, is applied to the simulation analysis of the robot in this paper. Based on Finite Element Method (FEM) and vibration theory, this paper applies software ANSYS to build the FEA model of the robot. With the FEA model, the dynamical response of the robot caused by the arm vibrating is simulated and analyzed. The Modal Response Analysis and Harmonic Response Analysis are presented based on ANSYS in this paper. According to the actual behaviors of the robot holding up the workpieces, the transient dynamic response of the frame has been simulated and analyzed. The dynamical characteristics of the structure has been presented.In this paper, vibration control method of the robot is studied. In order to reduce the vibration and raise accuracy of the robot, the method of structural topology optimization is discussed. According to the actual behaviors of the robot, the topological optimization of the frame has been analyzed. The imperfection of structure design of the robot has been pointed out. Therefore, the structure of the robot is changed correspondingly to reduce the vibration of the arms. The topologicaloptimization results are compared with the experimental data. The results show that simulation is relatively reliable for engineering analysis.Dynamical vibration absorber and Non-obstructive particle damper (NOPD) are applied to the vibration control of the robot and the effects of dampers are investigated. The dynamical response of the structure is studied and compared with that of the robot without dampers. The results show that this two kind of dampers have good damping effects.The paper resolves the vibration suppression problem of the robot, gains economic benefit in a certain extent. The results show that simulation is relatively reliable for engineering analysis. Such an attempt is valuable both in academic research and in practical technology.