Parameter Optimization And Dynamic Analysis Of 4R Handling Manipulator

Industrial robot is an indispensable automation equipment in modern manufacturing, and the most representative one is the multi joint manipulator. The modernization of multi joint manipulator not only needs to meet the general requirements of the work, but also put forward higher requirements for its dynamic performance. According to the modern mechanical design method, improve the mechanical system performance, including the mechanical movement accuracy and stability is the direction of the development of mechanical design in the future. In this paper, the structure parameters of the manipulator are optimized based on the mechanical hand of the machine tool. The dynamic equation of the manipulator is derived after the structure optimization, and the composition of each item of the dynamic equation is studied. On the basis of dynamics, the trajectory of the mechanization is optimized, which is the new design and research ideas for the mechanical hand.According to the actual working space layout of the manipulator and the optimization of the structure parameters of the mechanical hand drawn work space layout, and mechanical hand mechanism diagram. Due to the optimization design method, the multi objective function is set up and the constraint equation is established according to the actual condit ions. The structure of the manipulator is optimized by the optimization toolbox of MATLAB.Then the dynamics of the 4R manipulator is studied, the main use of the method is the Lagrange method. Firstly, the model of the 4R manipulator is established by SOLIDWORK, and the dynamic analysis is carried out, and the dynamic equation is deduced. Through the summary of kinetic equation of each joint, the general formula deduced dynamic equation, the coefficient of each summary. For the optimization of the manipulator in the conditions of dynamic constraints for trajectory optimization, the shortest time to solve the manipulator. Which contains the solution of the manipulator’s kinematics equations and inverse kinematics equations, as well as the three interpolation spline function for the motion of the manipulator trajectory equation. Finally, the objective function and constraint equation are established, and the shortest time is obtained.At last, the model is introduced into ADAMS, and the manipulator is simulated, the angular velocity and angular acceleration curve of the 4 joints are output, the adaptability and rationality of the dynamic equations are established, and the manipulator joint torque is established before and after the output optimization.In this paper, the theoretical model of the manipulator and the actual work of the close contact, improve the design and production efficiency of the manipulator. The modern mechanical design method, improve the analysis accuracy and provides some experience for the design and development of the manipulator.