Research On Dynamics Analysis And Vibration Control Of Painting Robot

In modern manufacturing,spray painting robots play an important role and their applications are becoming increasingly widespread.In this paper,RPA 856RP paint spraying robot is taken as the reference prototype.Based on the finite element theory,statics and modal analysis are carried out on the key parts of the robot to obtain their deformation and natural frequency;Based on dynamic simulation technology,dynamic modeling and simulation analysis were conducted to verify the effectiveness of the spring assisted balance mechanism;Establish an equivalent model for robot vibration analysis,study the influence of spring mechanism parameters on the end vibration response of the system,and provide reference for vibration control of similar robot systems.The main research content of this article is as follows:(1)According to the design principles and technical parameters of the spray painting robot structure,based on the reference prototype,the spray painting robot is modeled and assembled using UG 3D modeling software.Based on the model,the spring assisted balance mechanism is recalculated and designed;Carry out kinematics analysis of paint spraying robot,establish kinematics model by standard D-H parameter method,and solve forward and inverse kinematics solutions;The kinematics simulation model is established based on Matlab software,and the accuracy of the kinematics model is verified by comparison.Finally,the cloud map of the painting robot workspace is obtained through simulation,which provides additional verification for the accuracy of the model.(2)Statics and modal analysis of key parts of the robot are carried out.Based on the Ansys/Workbench platform,analyze the stress and displacement cloud maps and their distributions of the equivalent model of the key components of the spray painting robot under extreme pose conditions,and use this as a basis to verify whether the strength and stiffness of the key components meet the requirements;In addition,modal analysis of key components is also carried out to obtain the lower order natural frequencies and vibration modes of the components,providing reference for avoiding resonance and improving the dynamic and static performance of weak positions of the robot.It also provides a reference basis for the robot to obtain safe and reliable structures and good dynamic performance.(3)Use Adams software to establish a dynamic simulation model for the spray painting robot.Firstly,by selecting typical spraying trajectories of spray painting robots,the load torque of the joints of the upper and lower arms at different spraying speeds is analyzed.By comparing,it can be concluded that the joint load of the robot is relatively large at a maximum operating speed of 2m/s;At this spraying speed,perform dynamic analysis on the load of the robot’s joints before and after installing the spring balance mechanism,and select the special case of the moment of drive failure to analyze the effect of the spring balance mechanism on alleviating the impact of joint drive.The dynamic simulations in both cases have jointly verified that the spring assisted balance mechanism has a positive effect on the good dynamic performance of the robot;The equivalent model of robot vibration analysis is established,and the robot is transformed into a two link spring model.The main parameters affecting the dynamic performance of the system are determined through the theoretical analysis of dynamic modeling.The two link dynamic simulation model is established through Matlab/Simulink platform,and the influence of the main parameters of the spring mechanism on the vibration response of the two link end is analyzed.Finally,a particle swarm optimization is designed to optimize the parameters of the spring mechanism,Provide reference for the study of vibration systems of robots of the same type.