Structure Optimization Of HMD80 Palletizing Robot Based On Dynamics Analysis

Along with highly automation and intelligent in manufacturing industry, use the palletizing robot system instead of the workers for heavy pallet task has become an inevitable trend. High speed and heavy load characteristics of the pallet task make the dynamic performance of palletizing robot become the key indicators of the design stage to consider. So there is important significance of palletizing robot design and development, to optimize the palletizing robot’s structure in order to improve its dynamic performance.In this paper, structure optimization of the robot and the design of a spring balance mechanism are going to be established on the base of the robot’s dynamics analysis, to reduce the peak of robot vertical and horizontal joints’ driving force.First, introduce the concept of dynamic base coordinates based on the series-parallel characteristic of this robot. The kinematics equation is established by using the D-H parameter method. After decoupling analysis, all the moving parts’ joint coordinate transformation matrices are established. Then the dynamic mathematical model of the robot is established by using Lagrange method.Secondly, the vertical and horizontal joints’ driving force is selected as performance evaluation index. Establish the constraint conditions according to the robot’s speed index, work space index and strength index, etc. Optimize the length of the robot’s planar motion mechanism. Establish the mathematical model of size optimization and the genetic algorithm is used to solve the optimization model.The effect of gravity on the robot vertical joint’s driving force is analyzed on the basis of the size optimization. According to the analysis results, the parameters of the spring in the balance mechanism are designed. The effect of the spring balance mechanism on the vertical drive joint’s driving force was analyzed.Topology optimization design for small arm lateral plate on the base of static stiffness analysis of robot has been done in order to enhance its stiffness. The stiffness and modal analysis of small arm lateral plate will be analyzed after the optimization to verify the optimization effect.Finally, use the original prototype, design a dynamic experiment to verify the correctness of the dynamic mathematical model is established in this paper; use ADAMS dynamic simulation model to verify the effectiveness of the planar motion mechanism’s size optimization; similarly, used ADAMS simulation model to verify the effect of the spring balance mechanism on the peak value of the driving force of the vertical drive joint.