Structure Optimal Dedign And Research Of Six-DOF Economic Industrial Manipulator

With the rapid development of modern industry and Robotics,industrial robots are widely used in manufacturing.Using industrial robots to complete production work instead of manpower can significantly improve production efficiency and product quality.In many small and medium-sized manufacturing enterprises in our country,many high repeatability work is still used artificially.Some bad production environment will cause harm to the workers' body,which makes the production efficiency is not high enough and the quality of the product is not good enough.However,because of the high price of the industrial robot system in the market,the industrial robots are limited to the production of more small and medium-sized enterprises.Under this background,this paper fully investigates the development process and research status of industrial manipulator at home and abroad,and designs a six degree of freedom economic industrial manipulator.Firstly,the main technical parameters of the manipulator are determined on the basis of the existing industrial manipulator at home and abroad,the main technical parameters of the manipulator are determined according to the design requirements,and the structure type of the manipulator and the transmission system scheme are analyzed and compared,and the overall plan of the manipulator is completed.The SolidWorks software is used to establish the three-dimensional model of the parts of the manipulator,and the concrete structure design of each joint and the assembly of the whole machine model are completed.On the basis of the preliminary model of the manipulator,the selection and calculation of the motor and reducer of each joint are carried out.Secondly,the ANSYS Workbench software is used to analyze the statics of the arm and the whole machine,and the equivalent stress cloud map and the displacement and deformation cloud chart are obtained.The static strength and stiffness of the large arm and the whole machine are analyzed,and the reliability of the structure is verified.Then using the optimization module in the software,the multi-objective optimization design of the large arm is carried out.The size of the structure is reduced and the quality is reduced by 14.7%in the case that the large arm meets the requirements of the allowable stress and the maximum displacement.The target of the optimization design is realized.Thirdly,by using the improved D-H method,the kinematics model of the manipulatoris established and the positive kinematics equation of the manipulator is derived.On this basis,the inverse kinematics of the manipulator is solved by the algebraic method.The kinematics simulation of the manipulator is carried out by using Matlab software,and the working space of the manipulator is solved based on Monte Carlo method.The simulation results verify the desired design target.Finally,the Lagrange dynamics method is used to deduce the dynamic equation of the manipulator,which provides a theoretical basis for dynamic analysis.The dynamics simulation model of the manipulator is established by using ADAMS software,and its dynamic performance is simulated.The relationship between the torque of each joint and the motion of the joint is analyzed.The driving torque of the motor is checked by the simulation results.