Research On Mechanical Properties Of Four Degrees Of Freedom Hybrid Robotic Arm

Abstract:With the growing requirement of realizing intelligent and modernization in automatic industrial manufacturing line, industrial robot designed to meet the different needs of the field has drawn comprehensive attention in recent years. In the field of logistics the adoption of palletizing has a positive impact on the industrial working efficiency promotion workers’ protection and material protection. The implement of effective and long-life palletizing robot working safely and reliably has become the hotspot and frontier in the study of the present industrial robots.In this paper the following research work has been made based on Independent research and development four degree-of-freedom hybrid palletizing robot.Firstly, kinematic analysis and mechanism analysis are made on a hybrid palletizing robot. Geometric model has been built based on mathematical model in D-H coordinate system. The kinematics, statics and dynamics of the end effector has been analyzed on the displacement, velocity and acceleration curve from the3D model built and simplified in Pro-E whose with flexible main arm system processed in ANSYS rigid-flexible coupling simulation in ADAMS.Secondly, Inverse problem of designed movements manipulator dynamics has been studied for optimal structure designing especially for key structure optimization. Lightweight design to improve its dynamic response sensitivity in consideration of actual request. Stiffness matrix of end effector has been built considering drive system’s stiffness model to analyze its ability to resist deformation and the change of mechanical properties based on main arm system simulation on both models before and after the lightweight processing. Solutions to acquire a long-life palletizing robot working efficiently safely and reliably have been offered as well.Finally, resistance strain guage has been used for prototype’s stress strain test and data acquisition which is analyzed to acquire the mechanical property in both of No-load and load condition verifying the veracity of Analysis and simulation and the rationality and validity of structure optimization.