Mechanical Analysis And Structural Optimization Of High Speed Truss Robot

The truss robot plays a more and more important role in the flexible production line,the automated factory and so on.However,most of the domestic truss robots are designed by experience,and there is no deep mechanical analysis and optimization of the robot structure.This paper takes HUB10 truss robot as the research object.There is a dynamic analysis on it,and ADAMS is used to validate the results.Then the finite element software is used to analyze the robot.And the results of finite element analysis are verified by experiments.Finally,the structure of the robot is optimized and the weight is designed.Firstly,The load spectrum of the base,the crossbeam and the pallets is calculated and analyzed.The dynamic simulation model of ADAMS was established,and simulation of the truss robot under different conditions will be carried out.The simulation results are compared with the calculated results to verify the correctness of the calculated results.Second,the finite element model of pedestal,beam and pallets is established.Workbench was used for static analysis to them.The maximum displacement and the maximum equivalent stress are obtained by analyzing their displacement and equivalent stress plots.The finite element model is validated by deformation displacement experiment.Thirdly,the modal analysis of the pedestal,the beam and the pallets is carried out,and the frequencies and modes of the modes are obtained.It is proved that the structure does not receive the vibration of input force.According to the life theory,the fatigue life of the pedestal,beam and pallets is analyzed.The result confirms the qualified life of the structure,and finds out the place where the structure is prone to fatigue damage.Finally,based on the previous analysis,a topological optimization was performed on the brackets on the pallet;Lightweight design of Lightweight design of pedestal using topography optimization,topology optimization and size optimization using topography optimization,topology optimization and size optimization.At last,the performance of the model is compared before and after optimization,and the feasibility of optimization is determined.