Structure Analysis And Optimization Of The HR50 Bending Robot

As the key equipment in sheet metal automatic processing system, bending robot is aimed to accomplish automatic baiting and machining during the bending process. The performances of the bending robot play an important role in the efficiency and quality of the production. Nowadays the high speed and high precision developing direction of the sheet metal automatic processing system puts forward high requirements of the dynamic and static state performances of the bending robot.With HR50 bending robot taken as the research object, dynamic and static performances of the body are analyzed and moving parts are redesigned and optimized in this paper. The main work in the paper can be summarized as follows:1. The finite element model of the machine is established and static analysis is performed with 10 workstations along XYZ axis. The static stiffness of the machine is analyzed through deformation nephogram and the displacement of the reference point. Then the influence of workstations on stiffness is studied. The strength and stress concentration of the components and connection parts are analyzed through the stress nephogram. Statics analysis provides reference for improving the strength, avoiding stress concentration and the optimization design.2. The dynamic characteristics of the machine are analyzed by the modal analysis of finite element method and the modal experiment. The vibration modes which have the greater influence on the vibration of working platform in the front of the wrist are filtrated and set as reference for further optimization.3. The dynamic analysis of the rigid-flexible coupling model is conducted with the HR50 robot as object of study. The rigidity and damping parameters on the joint parts of the guide and slide are obtained through experiment. Then the equivalent spring-damp model is established. The flexible model is established using Craig-Bampton method. The drive curves are established based on the acceleration response curve. Then the simulation is carried out. The movement precision along Y axis and Z axis of the working platform is analyzed.4. The topology optimization on diaphragm plates of Y axis is carried out using variable density method to seek the best distribution form of material. And the shape optimization on shells of Y axis and Z axis is carried out with mesh deforming technology. The shape variables are established based on HyperMorph with the mass as constraint, the compliance index combining the displacement in static analysis and the low frequencies in modal analysis as objective to seek the optimal solution and the reasonable shape.