Multi-objective Lightweight Design Of Carton Stacking Robot

Palletizing robot is a kind of intelligent equipment that integrates mechanical,computer control,sensing technology,artificial intelligence and other disciplines.It can be integrated in any section of the production line to realize the rapid acquisition,transportation,packing,stacking and disassembly of products.In recent years,the development and research of industrial robot technology in China has reached a certain level,and the palletizing robot technology has also achieved rapid development.Its operation task is mainly completed by the cooperation of mechanical arms.Therefore,the performance of mechanical arms has an important impact on its dynamic performance.Its design relies mainly on the method of analogy and experience duo to that the structure is cumbersome and the material is wealth.Structure optimization technology in improved stiffness,weight at the same time reduce the material utilization rate.There are great research value for the mechanical arm.The structure design of palletizing robot transporting carton as an example,through the kinematics simulation for mechanical arm in the work force characteristic.And the lightweight space of key parts are got by using finite element technique.Then,the topology optimization and multi-objective size optimization was carried out to realize lightweight.This paper is organized as follows.(1)The three-dimensional model of the palletizing robot is established,and its dynamic simulation is carried out to obtain the dangerous position in the actual working process.(2)By establishing the finite element model of palletizing robot and analyzing its static and dynamic characteristics,the lightweight space of key parts of stacking robot is obtained,which lays a foundation for structural optimization.(3)Based on the mechanical arm's stress characteristics,the topology optimization mathematical model is established to optimize the topology of key parts,and a new optimization model is established.The size optimization and weight verification of the forearm were carried out.The results of finite element analysis showed that the structural mass of the upper arm and the lower arm decreased by 21.03% and 25.86% respectively after optimization under the condition of basically unchanged stiffness and strength,and the optimization design effect was obvious.