The Structure Optimization Research Of Planar Articulated Robot

Robot technique is the synthetical application of many subjects. In numerous types of robots, Planar articulated robot is applied widely in industry production, for its small in size and simple principle further more biggish flexibility in plane movement. So, study and apply the advanced software of analysis and calculation, solve the problem of optimization of the structure of planar articulated robot, which is very important and valuable. This thesis based on the prototype of the planar articulated robot and stressly investigated the problem of the analysis and optimization of the structure of planar articulated robot.Firstly, this thesis has demonstrated the design program of system structure of the robot. Including the structure design of base, arm1,arm2and wrist.Secondly, the link coordinate system of the planar articulated robot is established. On this basis, the kinematics equation and kinematics inverse solutions are calculated. The path planning algorithm in the joint space is applied. The position, velocity and acceleration of each joint are simulated by MATLAB. It is indicated the manipulator could move from initial position to the objective position along with the given linear trajectory. Moreover, the positions of each joint varies with planning points continuously and smoothly with mini-difference between two points. According to the theories of dynamic analysis, the Lagrange method was applied to build a complete explicit dynamic equation of the robot. This equation can easily solve the dynamics of the complex system.Finally, because of the importance of the structure design of big-arm and small arm in planar articulated robot, the theory and process of optimum design of structures are explained in principle. The concept and process of APDL of ANSYS are introduced in detail, Then the APDL is used to optimise and design the structures of big arm and small arm. In order to verify the rationality and feasibility of the optimization structures, aim at the results of optimal design, finite element models of the manipulators are designed. The most dangerous force status is defined as the situation of analysis, static finite element analysis of the parts is performed, the distribution of stress and deformations of each arm are attained. The local rigidities of the robot are evaluated according to deformation results. Then, the modal analyses for the manipulators are completed. The former fourth modes of each arm are extracted, and natural frequencies are obtained. Related data is provided to avoid operation in the vicinity of the resonant frequencies, the key modal parameters 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.