| The dynamics capabilities of robot's hand directly influence the structure design and the application of robot. This paper aims for perfect the structure design of the robot. The virtual model is accomplished and the dynamics equations are also listed in this paper. After that, it analyzes the dynamics capabilities of the robot and checks the safety of the main joint part. At last it gives some advice for the optimize design. This paper mainly includes the following parts:Chapter 2, it discusses the different ways to list the dynamics equations and the most usual way for the simulation of the robot dynamics. The final means are decided by comparing the different ways and the actual circumstances.Chapter 3, it builds the simplest model and finds the Centroid with the mass and obtains the largest torque of every joint when the robot is rested at the most dangerous position. The servo motor, the reducer and other transmission device are chose by the later analysis of the torque. It provides a base for designing the virtual model and the structure.Chapter 4, it depicts the frame of the robot structure. According to the Denavit-Hartenberg principle, the Jacobian matrix of the robot is deduced in this article. With the help of differential transform, the parameters in dynamics equations are simplified and the dynamics equations are obtained at last. It lays the foundations of the joint control.Chapter 5, it builds up the equivalent virtual model with the movement restriction. Then the virtual model moves in the curve that the robot usually works in the factory. It could reveal the dynamics force and the torque act on different joints after simulation. Then the Vonmises stress plot and acceleration curve could be obtained. It can be check out whether the structure have been designed proper. And it also give some advice for the optimize design.
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