Structure Design And Dynamic Performance Analysis And Optimization Of Heavy-load Transfer Robot

The heavy-load transfer robot with the advantages of heavy-load, high efficiency, andhigh-adaptation, has become one of the key areas of the robot application research. Inthe production of the oil cylinder piston rod, the factors, such as high mass, longlength have seriously restricted the automated production of the oil cylinder piston rod.The subject comes from the commissioned project of the enterprises, and a heavy-loadtransfer robot for the oil cylinder billet automatic production lines has been developed.The work of structural design, mechanical properties analysis, dynamic characteristicsand dynamic simulation of rigid-flexible coupling model, structural optimization andprototype production are finished, and the specific contents are as follows:First of all, the structure form is identified after the different handling robots’structures are analyzed. Then the design of the robot and key components are finished,the3D model of the transfer robot is established and the selection calculation of drivemotors is finished. In order to ensure the mechanical strength and stiffness are enough,the statics analysis of key components and the transient dynamic analysis of the wholeheavy-load transfer robot under typical conditions are researched by Ansys.Then, the dynamic performance of the heavy-load transfer robot has been researched.The dynamic characteristic analysis is finished by Ansys, and the weak points of thestructural stiffness are found. And based on the rigid-flexible coupling multibodydynamics theory and the FEA, a multi-rigid-body model and a rigid-flexible couplingmultibody model of the transfer robot are established by Adams. The dynamicsimulation of the heavy-load transfer robot under typical conditions is researched, andthe effectiveness of the rigid-flexible coupling multibody model is verified. Based onthe analysis results, the motor motion curve is optimized. And the dynamic simulationbased on the S shape accelerated curve is finished. Through the optimization of themotor motion curve, the vibration and fluctuations in the process of acceleration anddeceleration are effectively reduced.Finally, the overall structure of the system is optimized based on the results of theanalyses, and the dynamic properties of the robot is improved by the optimization,which is confirmed by the analyses. Then, the prototype of the heavy-load transfer robotis built based on the optimizational model and has been put into trial operation.