The Main Body Design And Simulation Optimization Of 7-DOF Front Back Offset Big Arm Industrial Robot

With the working object and environment of robot become more complex. The demand of researching and developing higher flexibility and environment adaptability of 7DOF industrial robot increases rapidly. As one of the most important equipment in automatic production line, the performance of robot directly affect the product quality and production efficiency.This paper have designed a kind of typical 7DOF front back offset big arm industrial robot mechanical body. And have used the multi-objective optimization to design front and back big arm. And completed the robot overall statics finite element analysis simulation. Then, this paper have researched positive and inverse kinematics of 7DOF front back offset big arm industrial robot. Finally, this paper have researched the dynamic performance, dynamic optimization and analysis. Kinematic simulation shows that:the robot mechanism form designed in this paper have advantages such as large working space, good avoidance of obstacle, good avoidance of singularity.The main contents of the dissertation are as follows:A form of 7-DOF front back offset big arm industrial robot is presented. Mechanical structure, driving system design and their assembly is completed on the basis of the method of inverse seeking power by energy dissipation.A multi-objective optimization improved design method of key parts of robot is put forward based on the sensitivity analysis. The sensitive degree of each target variable on design variable is obtained. The lightweight design and statics analysis of robot is completed on the basis of front back big arm structure multi-objective optimization design.This paper proposes an inverse kinematics solution by combing analytic method with numerical method. Then,7DOF front back offset big arm industrial robot inverse kinematics solution is obtained. The working space of robot is obtained by means of the Monte Carlo method. With the welding simulation application research, the advantages such as large working space, good avoidance of obstacle, good avoidance of singularity of 7DOF front back offset big arm industrial robot are verified.A dynamic analysis method of 7DOF front back offset big arm industrial robot is put forward based on the multi-rigid-body system dynamics. The digital prototype of robot is established by ADAMS. The dynamic performance simulation analysis is carried out. Finally, the dynamic of robot is optimized.