Structural Design And Dynamic Analysis Of Heavy Duty Industrial Robot Based On High Torque Drive

Heavy duty industrial robots have a load capacity of more than 100 kg and can replace human beings to complete simple,repetitive and heavy duty tasks.With the increase in labor costs in China,the demand for heavy duty industrial robots is increasing.However,theoretical research is not yet mature,and the problems of high driving torque and excessive loss of redundant energy in the second joint(joint connecting the waist and arm)motor urgently need to be solved.The commonly used measure to solve these problems is to increase the balance cylinder,which has drawbacks such as large body mass,complex design schemes,and easy interference.Moreover,the balance cylinder can only share a portion of the torque and cannot fundamentally reduce the driving torque.Therefore,the structural design and analysis aimed at reducing the second joint driving torque and motor energy consumption of heavy duty industrial robots are of great significance.In this paper,the structural design and optimization of some components of a heavy duty industrial robot are carried out,and its dynamic analysis is carried out.By using kinematics and dynamics methods,the rationality of the structural design and the correctness of the theoretical analysis of the heavy duty industrial robot are verified,which provides a reference for the optimization design and dynamic analysis of the robot mechanism.The specific research content is as follows:(1)Based on the commonly used structural composition and design principles of industrial robots,with the goal of reducing the driving torque and motor energy consumption of the second joint of the heavy duty industrial robot,the design of the third joint parallelogram transmission mechanism and the fourth,fifth,and sixth joint three-axis concentric transmission mechanism is carried out.By designing the structure of some components of the robot and selecting materials for the overall components,the balance cylinder of heavy duty industrial robots is removed,fundamentally reducing redundant torque.By using the finite element analysis software,the statics analysis of the components is carried out,and the structural optimization is completed.(2)The D-H method is used to establish the coordinate systems for the heavy duty industrial robot and obtain the kinematics equations of the robot.The correctness of the robot kinematics analysis is verified using the Matlab robot toolbox.The Monte Carlo method is used to simulate the workspace of the robot in Matlab,and the quintic interpolation function is used to plan the trajectory of the robot.The results show that the robot kinematics equations are established correctly,the workspace is reasonable and in line with design requirements,and the motion trajectory is smooth and continuous.All of this verifies the rationality of the robot structure design.(3)The Lagrange method is used to analyze the dynamics of the first,second,and third joints of the robot.The kinetic energy and potential energy of each component of the robot are calculated.The total kinetic energy and potential energy of the robot are obtained.The Lagrange function is used to obtain the dynamic equation of the robot,providing a theoretical basis for robot control.Based on this,the selection of the motor and reducer for the second joint of the robot is conducted.(4)The dynamics simulation of the robot is carried out by using ADAMS.The motion trajectory of the robot’s dangerous posture is calculated.The second joint torque curve is obtained,and the parameters of the second joint motor and reducer are checked.Through the simulation and comparison of different motion processes,the correctness of the theoretical analysis of robot dynamics and the rationality of the structural design are verified.A method for the analysis of robot virtual prototypes is provided.