Design And Optimization Of ARM Structure Of Bag Palletizing Robot

In recent years,with the rapid development of science and technology,robotics has been successfully applied to all aspects of life and will play a more important role in the future.Placing items according to a predetermined pattern and placing them into a unitized operation called palletizing can increase production efficiency.The palletizing robot has gradually replaced the artificial palletizing robot arm,but due to the gap between the domestic palletizing robot technology and the foreign palletizing robot technology at present,the corresponding enterprises in China have adopted imported palletizing equipment.Therefore,the structural design of the palletizing robot can reduce the cost and improve the efficiency of industrial production.In order to meet the demand of market and pursue better work of bag palletizing robot,the four degrees of freedom series articulated bag palletizing robot is designed.The paper focuses on arm structure design and optimization.Firstly,the movement analysis and force analysis of the bag palletizing robot are carried out.Based on the work performance requirements of the palletizing machine,a four-degree-of-freedom series articulated pocket bag palletizing robot arm is designed and corresponding to the key components waist seat,base,arm,and wrist are structurally designed and the appropriate motor is selected.Secondly,the static analysis of the arm structure is performed using the statics module of the ANSYS Workbench finite element analysis software.The main selection is the arm structure under load conditions when the boom is in the extreme position and the arm is in the extreme position.Then use the modal analysis module of the ANSYS Workbench finite element analysis software to perform modal analysis on the arm structure.The main choice is to use the arm structure under load conditions as the analysis object when the boom is in the extreme position and the arm is in the limit position,and obtain the natural frequency and mode shape of the first 6th order corresponding to each position.Finally,the optimization analysis module of ANSYS Workbench finite element analysis software is used to optimize the large-arm and small-arm of the arm structure.Under the condition of satisfying the strength requirements,the mass of the boom and the arm is optimized to be lighter,and the lightweight design of the large arm and the small arm is achieved,thereby saving materials and reducing costs.