The Research Of Dynamic Characteristic On4DOF High-speed And Heavy Load Industry Robot

The purpose of dynamic characteristics is to study the system’s response problemwith the time changes. The robot’s dynamic characteristics mainly refers to the changes ofthe system parameters during the movement. Including the force each joint suffered, thestress of key points suffered and the modal frequency and vibration shapes of the wholesystem. For the high-speed heavy-load robot, the changes of dynamic parameters are moreobvious. If we use the traditional modeling method, simply regarding the robot asmulti-rigid body system and ignoring the elastic deformation by high-speed heavy-loadcomponents that occured, large error will happen. So this paper use the co-simulationapproach to build the dynamics modeling of rigid-flexible coupling system, and thenanalysis the dynamic characteristics, so that the results is closer to practical engineering.Firstly, the article build a theoretical rigid-flexible coupling dynamic model anddeduced Lagrange dynamic equations of the system, and then did the numerical simulationbased on the equations, got the horizontal and vertical deformation at the end of theflexible link. Secondly use UG, ADAMS and ANSYS to joint simulation, obtained therigid-flexible coupling model of the system, measured the force of each major joint,displacement and stress of each node. Based on this situation, analysis the impact on themodels which produced under high-speed and heavy-load conditions. Finally, analysis themodal, transient dynamics and vibration of the system, got the first few modal andvibration mode map of the key parts and the whole system, at the same time obtained thesystem’s frequency domain response curve when suffered forced vibration.Through the analysis of simulation results, found the strength of the weak positionand gives the improvements, proved the impact of high-speed and heavy-load on thesystem’s dynamic characteristics, obtained the frequency range which easily caused thevibration. Therefore achieve the guiding role of engineering and propose the furtheroptimize for the system structure.