Design On Trajectory Optimization And Topology Optimization By The Industrial Palletizing Robot

With the widely used of industrial robots in China, the palletizing robot which is an important part of industrial robots is developing the increasing of speed and loading. The technical problem of palletizing robot is study purpose to reduce energy consumption to term of the characteristic of production line in the sliver house co, the subject has investigated and analyzed the joint type palletizing robot which has 4-DOF of freedom, and the main contents includes: reducing joint type driving torque and energy consumption through the trajectory and dynamics optimization based on the Isight platform. Reducing the machine weight and providing guidance for structure of stereotype through the optimization of structure Topology.Mathematical modeling of industrial palletizing robots, the dimensional virtual body was built for purposes of institutional analysis. Industrial palletizing robot forward kinematics model was established by D-H method. Inverse kinematics of the robot was solved to obtain the inverse kinematics equations. On this basis, kinetic equation was established by Kane, the driving torque of each joint is calculated. The trajectory optimization and dynamic optimization is mathematical base model. In addition, workspace was calculated based on the Matlab, written on the basis of parametric workspace executive interactive interface can be easily and quickly obtain the industrial palletizing robot workspace parameters and graphics through the program.In industrial palletizing robot trajectory optimization and dynamics optimization,the path planning industrial of palletizing robot is an important strategy between goods to take-put and orderly operation of the production line, the subject was used path planning with five polynomial in joint space. On this basis, a time trajectory of each segment and sub-point joint angular velocity joint was proposed as variables, values to the peak acceleration curve joint optimization as the goal, calling Matlab program modules based on the Isight, the results show that the joint decreased peak acceleration. Then the trajectory optimization equation after substituting its forward kinematics equation simulation, proved the correctness the optimized track. The trajectory optimization based on the Isight, mathematical models was optimized in the kinetic parameters for added weight as a variable peak torque to drive the optimization as the goal, the drive peak torque optimized decline.In the topology optimization of industrial palletizing robots, the big arm of robot is modeled by ANSYS APDL command flow. In order to find the relatively reasonable structure form with the know boundary conditions and loads. The important arm of robot is performed the structural topological optimization analysis and obtain the topological optimization cloud in two different case, which can provide the best material design for optimization of shape and size in next step.