Research On Dynamic Simulation Of Multi - Joint Robot Based On RecurDyn

Under the background of industrial 4.0, industry of our country also entered the "made in China 2025 period". China’s industrial have a sustainable development in 2015, and whether it is in the light industry or heavy industry, the role of multi joint robot plays a very important role in promoting the development of industry. So the importance of robot research is self-evident. In this paper, i present a comprehensive dynamic simulation analysis of the virtual prototype of a multi joint robotic welding robot, basing on a new generation of RecurDyn multi body dynamics simulation technology.Firstly, this paper analyzed the present situation of multi joint robot dynamics, and proposed by a new generation of multi body dynamics simulation software analysis method for multi joint robot. Then,using D-H parameter method is used in the field of robot research, this paper established the mathematical model of the robot. The kinematic equation of the robot is established by using the homogeneous matrix transformation method. By using the two order Lagrange method, the dynamic equations of the robot system is established too. It has laid a solid foundation for the robot’s kinematics and dynamics simulation analysis.By Pro. E 3D drawing software, this paper designs and draws each component of the robot model, and in the pro. e,the robot was assembled into ligand, and saving as STP file format, then put the model imported into RecurDyn platform. In the multi body dynamics simulation software RecurDyn, the model prototype is simulated under the condition of setting. Then, under the same conditions, the model is calculated. By comparison, the calculation results are consistent with the simulation operation, which proves the correctness of the model. Then, the kinematics and dynamics simulation analysis of the model is carried out under certain conditions. The results of the analysis can provide reference for the selection of the motor and the design of the control system. Finally, using the finite element software ANSYS to carry on the flexible processing to the model big arm, and then combining with the RecurDyn RFlex module, this paper analyzed the rigid flexible coupling dynamic analysis of the robot arm. The robot arm model simulation results show that the stress distribution can be improved to a higher precision for the structure optimization of the robot arm.The work shows that the use of RecurDyn virtual prototyping simulation analysis method of multi body system, compared with other by a variety of programming language to build a simulation platform for simulation approach can greatly improve work efficiency, and reduce the researchers’ professional and technical requirements. Not only the real visual effect is good, but also can reduce the cost of research. In addition, the use of two combination of software to simulation analysis method of the robot, not only can improve the performance of software, but also is suitable for the complex mechanical system, and it is helpful to the optimization design of the system.