Research On Dynamic Analysis And Structure Optimization Of Bearing Ring Grasping Robot

The bearing ring grasping robot is an important equipment in bearing production.It is responsible for the handling and loading of bearing rings from the placement station to the rolling station.As the main material handling tool that replaces manpower,its performance has a direct impact on bearing production.Therefore,it is of great significance for the motion analysis and structure optimization of the bearing ring grasping robot.Based on the instability of the bearing ring grasping robot developed by ourselves,this paper analyzes the motion characteristics of the robot and optimizes the structure of the key components to achieve the purpose of optimizing the robot motion performance.Firstly,the forward kinematics and inverse kinematics of the bearing ring grasping robot are studied,and the mathematical model of the robot is established based on the D-H method.Then the established equations are verified through the Robotics Toolbox application in MATLAB.Secondly,use the fifth-order interpolation polynomial method in MATLAB to plan the working path of the robot,and obtain the change curve containing the displacement,velocity and acceleration information of the joint.Use SOLIDWORKS to adjust the model and import it into ADAMS for kinematics and dynamics analysis to obtain the force,torque,and acceleration changes of the robot under specified trajectory conditions,and record these boundary conditions.Tertiary,analyze whether the robot has optimization space.Based on the dynamics research,the force analysis of the robot’s arm is carried out.The analysis results of the finite element software ABAQUS show that the robot meets the requirements of the working conditions and has the optimization conditions.Finally,the structure of the robot is optimized.Using the topology optimization module in ABAQUS,the design structure has the minimum strain energy under the condition that the volume is reduced to 60% of the original.According to the optimization results,the robot arm structure is redesigned,and finite element analysis and dynamic analysis are performed under the same boundary conditions.Compare the results of finite element analysis and sports performance of the boom before and after optimization.The results show that the acceleration and torque of the robot end-effector during braking are reduced,which proves that the method of improving the stability of the robot by optimizing the structure is correct and effective.