| In this thesis, a6R industrial robot with the maximum load50kg and thelongest reach of arms1.96m which is mainly used in spot welding and materialhanding is designed, then its dynamic performance and structuralcharacteristics are analyzed to verify its reasonability of structural design.And the finite element analysis and optimization of the main bearing partsis completed.The mainly content of this paper is organized as follows.Considering the main designing requirement of the robot, the overallstructural plan is designed. To install the motion part of the third axison the base of the robot and to reduce the load of the second axis, the layoutof link arm is arranged as parallelogram structure. A compact structure withorthorhombic structure is adopted to reduce the mass of the whole wrist andto improve the flexibility. Design the drive system and the balance system.Considering the balance of the load, the balance weight is provided for thethird axis and balance cylinder is provided for the second axis. The threedimensional model is established using SolidWorks.The dynamic model of robot RB50is established using ADAMS. The dynamicsimulation of Robot RB50is completed under a typical working situation andthe motion-torque curve characteristics of all axes were obtained. Comparingthe motion-torque curve with or without the balance system, the availabilityof the balance system is verified.Finite element models of the main-bearing parts are established after somenecessary simplifications. Static finite element analysis and modal analysisof these parts are performed under the most dangerous force status, then theoptimization is provided according to the results and the theory basis isalso provided for optimizing the design of the robot at the same time. Finally, the final configuration of the robot and related technicalparameters are determined by synthesizing the initial design and optimizationsimulation. |
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