Structure Optimization Of Transport Manipulator

The industry manipulator is a new tool by the demand of automaticlized socialproduction, it is an important subfield of modern robot technology, it is a technolo-gy about comprehensive use of traditional mechanical, computer and automatic control.The application level of industry manipulator is one of the symbol of industrial automa-ticlization. The industry manipulator widely used in the field of products handling, partassembling, painting, operation, manufacturing in food industry and so on.The object of researching is a toilet carrying manipulator which is specialized desi-gned for a sanitary ware factory. The full structure of this manipulator is steel material,span7*5M, height3M, move speed without loading35M/min, with full load25M/min.The structure design and it’s size will influence a lot on the running stability because it’sbig span, high move speed and big working load, so it is necessary to make relativeanalysis on it for the purpose of improve the configuration and size, reduce the weight,lower the inertia and dynamic load but all of them will on the premise of making suremanipulator will have enough rigidity, intensity and working stability.First, establish a simplified solid model by Pro/Engineer4.03D design soft ware.Then, lead into this model to ANSYS12.0finite element analysis software by theseamless interface, establish the infinite element models for main parts structure and fullstructure, analysis their static and dynamic infinite elements. By the analysis of staticmodel, we find the way to improve the configuration and size, reduce the weight, lowerthe inertia and dynamic load. Next, by the analysis of dynamic model, mainly by modalanalysis, find the nature frequency and mode of vibration of not only main part but alsothe full part. Find the weak link of structure then optimize the designing, improve thenature frequency of them to avoid the low stability by Low Frequency resonance. Theidea about analysising and optimizing in this paper can show a effective way to makesome other more complicated machine structure.