Key Components Of Palletizing Robot's Dynamic Performance Analysis

Aluminum is a vital important basic industrial raw materials with its good corrosion resistance,electrical conductivity and workability.In recent years,the state attaches great importance to environmental pollution and puts forward a series of policies,such as cleaner production,reducing energy consumption,increasing unit capacity and so on.The electrolytic aluminum industry is pressing for more efficient aluminum ingot casting production line,each work in the production chain should meet the principle of efficiency.Taking the handling and stacking of the aluminum ingot at the end of the production line as an example,the work stability and speed of handling of the palletizing robot directly affects the efficiency of the whole production line.In order to ensure that the robots can be used reliably in the human production activities,it is particularly important to evaluate the dynamic performance in the process of normal operation of the high speed and overloaded robot.In this paper,taking MPL300 high-speed overloading palletizing robot as the research object,the main research contents and results are as follows:Firstly,we make a brief description for the kinematics analysis method of robot and establish the kinematics equations of the palletizing robot by using analysis method of planar movement(graphical method)and the homogeneous coordinate transformation method,then obtain the Jacobi matrix on the basis of the homogeneous coordinate transformation matrix of robot,and make an evaluation for the robot working space flexibility.The results show that the robot has relatively high flexibility and can meet the requirements of daily use.Second,the rigid-flexible coupled dynamics model of the whole robot system is derived.Based on the kinematics equations of a flexible beam,regarding the palletizing robot as a coupled body,we carry out the dynamic analysis of child widgets of rigid body and flexible body,respectively and establish the rigid-flexible coupled dynamics model of the palletizing robot by using Lagrange method and combining with the system the law of conservation of momentum.Then,the rigid and the rigid-flexible coupled simulations of robot using dynamic simulation software ADAMS are carried out,respectively.We analyze the motion process of palletizing robot in a working cycle and compare the images of displacement,velocity and acceleration of the end point of the wrist for the robots in the rigid and rigid-flexible coupled condition.The simulation results show that the traditional kinematics analysis method of the rigid body haven't satisfied the actual requirements.In a wide handling process,the flexible deformation of forearm parts of the robot may occur because of the influence of the speed and load size,which has a great influence on the movement precision of the end of the actuator.It's more intuitive and accurate to simulate the actual working condition of the robot in the rigid-flexible coupled way.Finally,the dynamic performance of key components of palletizing robot is analyzed.To begin with,the statics analysis of the robot wrist,arm,forearm is carried under the load condition;regarding the results of static calculation as boundary conditions,finite element analysis is carried out on the arm and forearm parts;Then doing the corresponding modal analysis,we obtain low order modal frequency and vibration mode of the key components and find out the weak link of structural deformation caused by impact vibration,which provides the reliable theoretical support for optimizing and designing the key components of the palletizing robot further.In this article,we analyse the relevant dynamics characteristic of the system by carrying out the mechanical calculations and numerical simulations of the machine on the key components of the palletizing robot at the end of the aluminum ingot casting production line,which provides the relevant data support for optimizing and designing of the palletizing robot further.