The Dynamical Analysis And Simulation Of Six-axis IndustrialRobotfor Multi-point High-speed Assembly

In this paper, targeted iR1000, a six-axis series industrial robot, which was used for high-speed multi-point assembly. Studied the key issues of kinematics, operating space, dynamics and so on of the six-axis series industrial robot systematically. The main work of this paper is as follows:firstly, analysed the overseas and domestic research status, clarified the meaning and content of the research topic; secondly, created a solid model of iR1000robot, built a link coordinate system of it with D-H method and calculated kinematics and operating space of iR1000, analysed the trajectory of multi-point assembly and calculated the curves of angle change, angular velocity change and angular acceleration change of each joint of the robot with inverse kinematics; thirdly, calculated the dynamical equation of iR1000with Lagrange equation method, analysed the characteristics of inertia, Coriolis force, centrifugal force and gravitational torque of the process in motion with MATLAB, obtained the curves of driving torque of each joint during the motion in order to providing fundamental basis for optimizing the design of the mechanical structure and a reasonable selection of drive transmission components; fourthly, simulated iR1000with ANSYS, obtained the figures of stress distribution, deformation and safety factor of each joint which was under maximum drive torque, optimized the structure and trajectory of iR1000robot further according to simulation; lastly, summarized the main research work, research findings and innovations and the prospects for the domestic and front research of six-axis industrial robot assembly work for the subsequent development reference.