Structure Analysis And Optimization Of Small Palletizing Robot

With the development of science and technology,robot technology has penetrated into every aspect of human life and plays a more important role in the future.Palletizing is stacking the goods into a pile in accordance with certain rules and realizes the transfer of goods quickly and orderly,thus improving the work efficiency.In recent years,traditional manual palletizing is substituted by robots has become an inevitable trend,the palletizing robot becomes more and more widely in the field of packaging and logistics.Therefore,it is a great significance to enhance the capabilities of research and design palletizing robots.The main work of this paper is to design a small palletizing robot and finish its structure analysis and optimization.On the base of comparing various kinds of palletizing robot structure,for small palletizing robot with the characteristics of low load and smart light,this paper uses steering engines as power.The 3D model of the small palletizing robot was built by solidworks software and the steering torque was calculated.Then this paper completed the kinematics model of small palletizing robot which based on the D-H parameters list and used matlab finishing the simulation of its 3D and 2D workspace.The finite element software ANSYS Workbench is used to conduct finite element analysis to small palletizing robot.The stress nephogram and deformation nephogram of different position can be achieved by conducting statics analysis to four extreme position of the arm parallel structure,so as to verify the feasibility and rationality of the design of key components.In addition,the modal analysis of small palletizing robot achieve the dynamic characteristics,it can determine the frequency it may occur resonance,and can avoid to be damaged by vibration during operation.The optimization analysis has been done for small palletizing robot using the optimization function of ANSYS Workbench.First of all,the size optimization of the small and the big arm has been done.Then topology optimization has been conducted to optimize the structure of the link.According to the comparison of the maximum stress and deformation before and after optimization,the weight and cost of small palletizing robot have been reduced in the case of the strength and stiffness unaffected,so as to achieve the purposes of optimization.