Mechanism Design And Performance Guarantee Of Heavy-Duty Industrial Robot

Heavy duty industrial robot can replace manual work in high-risk and harsh environment.It has the advantages of large load,high efficiency and good stability.For the widely used heavy duty industrial robot,how to guarantee the working performance is one of the research hotspots in this field.In order to improve the performance of heavy-duty industrial robot,this paper studies the conceptual design,kinematics and dynamics analysis,performance index analysis and trajectory planning of heavy-duty industrial robot.The main contents and research results are as follows:According to the application requirements of high-performance heavy-duty industrial robots in various engineering fields,considering the design requirements of robot body weight,load capacity,structural stiffness and workspace,the conceptual design of high-performance heavy-duty industrial robot is carried out based on the idea of structural balance design,lightweight design and reconfigurable design,and a series of configuration schemes of heavy-duty industrial robot are proposed.Based on the analytic hierarchy process(AHP),this paper analyzes and evaluates the design scheme from six aspects: body weight,load capacity,occupied space,mechanism stiffness,mechanical performance and workspace,and selects the optimal scheme connecting rod lead screw drive balanced heavy-duty industrial robot as the research object.Kinematics analysis of balanced heavy-duty industrial robot driven by connecting rod and lead screw is carried out.The D-H method is used to establish the structure parameter model of the robot.The forward and inverse kinematics solutions of the robot are solved,and the angular displacement,angular velocity,angular acceleration and angular jump of each joint are analyzed.Monte Carlo random sampling method is used to analyze the workspace of the robot,and the stereogram of the workspace is obtained.The kinematics model is simulated in a given trajectory and period to verify the movement trend of the robot.Lagrange equation method is used to model the dynamics of the balanced heavy-duty industrial robot driven by connecting rod and lead screw and the typical double parallelogram heavy-duty industrial robot.The kinetic energy and potential energy of each link of the robot are analyzed.The inertia matrix,Coriolis force,centrifugal force matrix and gravity term matrix in the rigid body dynamics equation of the robot system are derived,and the expressions of driving torque of each joint are solved.Given the structure parameters of the robot,the dynamics of the two kinds of structure robots are calculated and simulated,and the simulation results are compared and analyzed.From the perspective of kinematics and dynamics,the joint torque,condition number,carrying capacity,power and energy consumption are proposed to evaluate the performance of the link screw drive heavy-duty industrial robot.Taking the heavy load palletizing task as an example,the trajectory planning of the robot based on the optimal energy consumption is carried out.The total energy consumed during the operation of the robot is taken as the objective function,and the running time,motor speed and motor output force are taken as constraints.At the same time,the residual vibration at the end of the robot is considered to reduce to ensure that the acceleration at the end of the operation is zero,The Runge Kutta method and multiple shooting method are used to obtain the lowest energy consumption trajectory in the global range,and the simulation analysis is carried out.The results show that the total energy consumption of the robot is significantly reduced after energy consumption optimal trajectory planning.The three-dimensional models of connecting rod lead screw drive balanced heavy-duty industrial robot and double parallelogram heavy-duty industrial robot established in Solid Works^? software are imported into ADAMS^? software to establish their virtual prototype models.The test data are imported to simulate the virtual prototype of the two heavy-duty industrial robots,including kinematics simulation and dynamics simulation.The simulation results are basically consistent with the trend of the theoretical model,which verifies the correctness of the theoretical model.