Finite Element Analysis And Structure Improvement Of Flour Bag Palletizing Robot

With the rapid development of the economy,the level of automation continue to improve in domestic small and medium enterprises.As for the stacking operations in labor-intensive flour industry,robots will instead of people,which is an unchangeable trend.On one hand,it can improve the productivity,on the other hand,it can reduce labor's costs.Different flour production enterprises have different requirements towards the performance of Stacking Robot for their different production levels.This topic is based on the enterprises and comes from the real production status in a flour mill.It contributes to the structure and mechanical properties of the flour bag Stacking Robot,at the same time,improves the structural optimization design.It aims to form a relatively complete structure design and optimization program of Stacking Robot,which can contribute to future study of robots.The details are as follows:Firstly,the arm parallel four-link mechanism of Stacking Robot is analyzed.According to the order of the bracket to the clamping mechanism,the rod coordinate system is established in turn.Get the position parameter equation of flour bag Stacking Robot's clamping device by solving the transformation between bar coordinate system and matrix.According to the parametric equation,a plane space is proposed to solve the three-dimensional space by MATLAB programming the robot's working space.Secondly,the solid model of Stacking Robot is established.The actual palletizing process of the robot is simulated by ADAMS and the process of changing the driving force of the driving joint is solved with time going by.At the same time,the author obtains velocity and acceleration of each joint and its force variation curve.Then make a completely analysis on the kinematics and dynamics based on the data.Thirdly,the finite element static is analyzed and the dynamics is checked.And the author analyses the stiffness deformation of four extreme positions of the robot by ANSYS Workbench.The kinematic strength of three main levels of its structure is proofread according to the force changing curve of the joint.And the finite element of the structure is completed referring to elastic deformation theory and fourth strength theory.Then,the selected four typical positions of the robot is made a detailed analysis according to the flour bag stacking process.The author analyzed the natural frequency and vibration mode of the structure in the first six sections using the ANSYS Workbench modal.The find out the influencing factors in the weak link of the dynamic structure according to the natural frequency and vibration mode in different position in each level.Finally,based on the above analysis,the parameter optimization of the four-link mechanism of Stacking Robot is designed applying the compound method.Find out the optimal length dimension parameters of each lever under the condition of meeting the stacking space.At the same time,the optimal rotation range of driving angle was acquired,which contributes to achieve the effective stacking space of the robot.The size arm is the most key lever in the robot structure.The size arm from the structure size and shape was optimized designed,which aims to reduce its own quality as increasing stiffness.