Design And Structural Optimization Research Of Heavy Load Palletizing Robot

At present,palletizing robots are widely used in the production of huge plate material.Along with the continuous improvement of production requirements and the consciousness of safety production,traditional palletizing robots have to get greater load capacity and more stable dynamic performance.Therefore,considering the requirements of production line and performance design,this dissertation is going to launch the design of heavy load palletizing robot and its structural optimization research.In this thesis,the main reseach area refers to the design of heavy load palletizing robot and its structural optimization.According to the design requirements and production application,it is aim to develop a heavy load palletizing robot system which is able to grasp huge plate glass from below.Main works have been completed as below:Firstly,according to the design requirements and production line layout,a preliminary robot mechanism and its power transmission scheme have been planned.Meanwhile a new balance device used for the robot main are has been innovatively designed based on the theory of scroll spring.Then kinematics and dynamics analysis of robot mechanism are carried out and finish the analysis of robot workspace,which verify the layout scheme for the robot palletize working cycle.Secondly,the article emphatically introduces the mechanics analysis and simulation of heavy load palletizing robot,including statics analysis,dynamics simulation and the modal analysis for the whole robot body.Among them,the maximum stress and maximum deformation distribution of the components are obtained based on the statics analysis.The rigid dynamics simulation provides references for the accurate selection of servo motors and RV reducers after building up the virtual prototype of robot.Then through rigid-flexible coupling dynamics simulation,the transient deformation and vibration preformance of the end effector are fully obtained during the robot working cycle.Furthermore,each natural frequency and modal vibration mode are intensive studied based on the results of modal analysis for three typical robot postures.Then,the stucture optimization have been carried out for the main components of the heavy load palletizing robot.Through the sensitivity analysis of design variables and the response surface analysis of optimization objectives,the theoretical optimal solutions are found and the engineering optimal solution are determined later.Lastly,the main factors that affect the accuracy of the end effector are analyzed and the mathematical model of the end effector position error is established.Therefore,the end effector error has been carried out based on the transmission precision of all joints,which provide a theoretical foundation for system error compensation.