The Research Of Starting Characteristics On 4DOF High-speed And Heavy-load Robot In The Typical Condition

With the rapid development of industry, various industries have a broad application and requirements for the high-speed and heavy-load industrial robot. However, in actual condition, high-speed and heavy-load are irreconcilable. By this condition, in order to improve the starting velocity and acceleration and implement the high speed operation of the robot with the heavy-load, this article detailed analyzed the robot’s trajectory planning and dynamic characteristics in the process of starting with the 4-DOF high-speed and heavy-load robot in the handling and palletizing condition.Firstly, by the 4-DOF high-speed and heavy-load robot model, this paper set up the robot’s kinematics theory model, obtains the kinematics positive solution, inverse solution and Jacobian matrix, set up the robot’s dynamic theory model with Newton- Euler method, obtain the explicit expression of robot joint torque. Then, by using ADAMS software, the simulation proves the validity of the theory of kinematics and dynamics model.Then, by analyzed all the factors that affect the robot acceleration, the paper put forward the joint simulation method based on ADAMS and Matlab. In order to get the optimal joint angular velocity and joint torque, based on the actual data of a grain production line the article analyzed several typical trajectory in its operating space, and obtained the optimum starting trajectory of the robot by comparing the several condition. Then, based on the robot’s position and load of the optimum starting trajectory, the paper analyzed the strength, natural frequency, frequency response, ect with the finite element method. Through the stress field of robot, the robot structure was proved to be security and reliability, and the optimization space of the robot was put forward. The results of the elastic deformation of robot provided the elastic deformation compensation curve to robot servo control system. Through the analysis of the modal frequency response of the robot system, the natural frequency and the vibration form will guide the structure optimization and the establishment of the control system of the robot.Finally, based on the optimum starting trajectory and toke the large arm joint motor as an example, the article set up the kinematics servo control system and verify the position tracking performance and stability of the control system by Matlab/simulation analysis.