Dynamic Simulation And Structural Optimization Design Of A Six Axis Industrial Robot

With the rapid development of industrial automation,industrial robot has become an important automation equipment for modern industry.At present,industrial robots are mainly used in automobile manufacturing,integrated circuits,household appliances and other industries.China is in the stage of rapid economic development,industrial robot's market is very large and there will be more demand in the future.Because of the technical confidentiality on industrial robots,most of domestic robot products are of poor quality,so most of the robot customers tend to buy foreign industrial robots.Therefore,China must research and develop the industrial robots independently and master the core technology.It has an important significance for China's industrial development and transformation.In this paper,the theory of dynamics and structural design of industrial robots is studied.A 6-axis industrial robot is simulated and optimized to improve its dynamic performance.First of all,the main structures of industrial robots are introduced,and it will make a suggestion for the structural designs of each component.Then,the D-H method is used to establish the connecting rod coordinate system of each axis of the robot.Through the transformation of the coordinate system,the kinematics equation of the robot is established and its positive and negative solutions are solved,which provide the theoretical basis for the path planning of the robot.Based on the existing model,the dynamic simulation of the 6-axis robot by ADAMS software is carried out.The driving torque curves and force curves of each joint of the robot under the specified working condition are obtained,which are the selection basis of the key parts such as the motor and the reducer.These dynamic simulation results are the basic data for the structural analysis of industrial robot.Then,aiming at the design of the structure of the robot,the key components of the robot are analyzed and simplified.The finite element analysis model is established.The stress and strain of the main bearing parts in a variety of conditions are analyzed by ANSYS software,the weak points on the structure are found and are strengthened,The structure of key components are optimized to reduce the overall quality.Finally,the modal analysis of the robot is carried out,and the natural frequency and modes of the first 6 steps are extracted.Through the analysis of modal parameters,the vibration of the whole machine is understood.At the same time,the main structure is optimized,the natural frequency is improved,the resonance frequency is avoided,and the anti-vibration ability of the whole machine is improved.The study show that the simulation model established in this paper is reasonable,the results of dynamic analysis are consistent with the actual test data,and the optimization effect is obvious,which provides a new method for structural design and improvement of industrial robots.