Structural Analysis And Simulation Research Of 4-DOF Heavy Duty Industrial Robot

With the development of technology and market,industrial robots are increasingly becoming one of the indispensable intelligent equipment in the field of automation.However,the market share of heavy-duty industrial robots in the world is mostly occupied by foreign brands,and there is huge room for development of the future market of robots in China.This project develops a four-degree-of-freedom heavy-duty industrial robot,develops and designs a four-degree-of-freedom heavy-duty robot.Through structural analysis and simulation optimization of the heavy-duty robot model to meet the load capacity of 3000 kg,it ranks among the world's super heavy-duty robots.Firstly,according to the application of the heavy-duty robot,the working requirements of the robot was determined.The structural model of the robot was designed based on the reference of a large number of robot structures.The assembly model of each part of the robot and the whole machine was established by using SolidWorks software,and the servo motor and reducer of the heavy-duty robot were selected and calculated.Secondly,the finite element analysis software ANSYS Workbench was used to analyze the statics of several typical poses of heavy-duty robots.By observing the stress and strain of the whole machine,the key components of the robot were optimized.Under the condition that the strength is satisfied,the total deformation amount is within a limited range.Thirdly,the dynamic stiffness analysis of the optimized heavy-duty industrial robot was carried out.Harmonic response analysis and modal analysis of the robot model were performed using ANSYS Workbench software to identify the weak links of the whole machine under different excitation frequencies.Then,the sensitivity analysis method was used to further optimize the weak links of the whole machine.Finally,the ADAMS software is used to analyze the kinematics of the heavy-duty robot prototype,and the motion and working space of each joint of the robot are obtained.The simulation results of the prototype are analyzed through experiments and coMParison.At the same time,the stress and strain experiments and vibration test experiments of the robot prototype were designed to verify the validity of the finite element modeling and simulation results.