The Structure Design And Dynamic Characteristics Analysis Of Layer Palletizing Robot

In recent years, the robot technology is developing very fast, various uses of robots are widely applied in various fields. Meanwhile, palletizing technology also won the rapid development, particularly the development of robotic palletizing more rapidly and this trend is the emergence of today's small quantities of many varieties manufacturing suited to the development trend. Aluminum ingot layer palletizing robot is an important part of the whole aluminum ingot casting line, its dynamic and static performance directly affects the production efficiency. Compared with industrialized countries, China has a certain gap in the research and application of robots, so study and design of robot especially industrial robots is practical. This work is carried out around the design and analysis of a joint type layer palletizing robot.In this article, the basic technical indicators of robot are determined according to the operational requirements of aluminum ingot casting line firstly, which is as the basis for the structural design of the robot. In reference to a variety of related robot, the article design the overall plan of the robot program and mechanical structure and layer stacking robot for 4-DOF joint type series robot, adopt the rotational joint, adopt servo motor and RV reducer transmission program. Based on the analysis on the key working status of the robot, selected the joint motor, reducer specific model, given the major components of the structural parameters of Fig.Using D-H method to establish the mathematical model of layer palletizing robot, and deduce the robot kinematics equations, solve the kinematics and Jacobi matrix. On this basis, using Lagrange method on the dynamic analysis of layer palletizing robot, deduce the dynamics equation of each poles, obtain the driving torque of each joints. With the application of ADAMS software to obtain palletizing robot kinematics and dynamics simulation, the correctness of the theory is validated. Finally using ANSYS software of static and dynamic finite element analysis on robot, the purpose is to verify whether the robot structure design can satisfy the job requirements in strength and stiffness.