Dynamic Analysis And Structural Optimization Design Of Palletizing Robot

With the rapid development of information and intelligent technology,stacking robot is widely used in logistics,construction and manufacturing industries,so automated production lines put forward higher requirements for stacking robot.The dynamic performance of robot is one of the most important indexes to evaluate the overall performance of robot.Therefore,this paper aims to improve the dynamic performance of the robot through theoretical analysis,simulation analysis,structural optimization and other scientific methods,so as to make the overall performance of the palletizing robot better and provide reference for the theoretical research and engineering practice of the same type of palletizing robot.The main research contents of this paper include:(1)According to the performance index of the robot,the overall configuration design,transmission scheme design and specific structure design of the robot were completed.Finally,a four-degree-of-freedom hybrid stacking robot with 120kg load was designed.(2)The kinematics and dynamics of the robot are modeled mathematically.Complete the establishment of the total kinematics equation,simulate the robot working space,and then according to the Lagrange dynamics theory of the robot dynamics mathematical modeling,to solve the total dynamics equation of the robot.Mathematical modeling provides solid theoretical guidance for simulation analysis and structure optimization.(3)The multi-rigid body and rigid-flexible coupling dynamics of the robot are simulated.The kinematic characteristics of the robot are simulated comprehensively,and then the key components of the robot are flexibly processed to complete the dynamic simulation analysis of rigid-flexible coupling of the robot.The kinematic and dynamic characteristics of the robot in the state of multi-rigid body and in the state of rigid-flexible coupling are compared and analyzed.(4)The parametric size optimization of the robot is carried out.In order to reduce the vertical and horizontal driving force peaks as the optimization goal,the parametric dynamic model was designed with the methods of design research,experimental design and optimization design for size optimization,to achieve the purpose of reducing the horizontal and vertical driving force peaks,and to complete the size optimization analysis of the robot.(5)The robot is optimized for lightweight design.Topology optimization analysis was carried out on key components of the robot and the structure design was completed again.The static performance and vibration performance of the robot before and after the lightweight optimization were compared and analyzed.On the premise of ensuring the safe operation of the robot,the lightweight design of the robot is finally realized.