CAE Analysis And Structural Optimization Of The Sprayin Robot

Working environment and the efficiency and quality of spraying can be improved by using spraying robot.At present, spraying robots being used in China mainly rely on import and therefore,it is of great importance to research and develop spraying robots independently to meet the domestic demands and to form the industrialization of the industrial robots in China. This thesis, contraposing the problems emerging in the process of researching and developing spraying robots independently, such as motor selection,structural strength and stiffness and etc.,researches the dynamical analysis and lightweight of structure.The efforts I have made in this thesis will be of good promotion to the development of spraying robots.Firstly,Virtual Prototyping is applied to a dynamical analysis of spraying robots.A virtual prototyping model of spraying robot is set up on the basis of CAD model.Then the dynamic model is applied to find out the peak force,torque and peak power of each joint of spraying robot in its working space.Secondly,the problem of motor selection,which must be considered in the structure design of a spraying robot itself, is solved.Motor selection is accomplished by taking the joint peak force and torque from the dynamical analysis as motor drive load and applying the standardized torque speed map of T*max-ω*max to distinguish the performance of motors, and this method can be also applied to the selection of motors including reducers.Thirdly, the strength and stiffness of the main parts of the spraying robot designed is analyzed.The strength and rigidity of the main parts is analyzed by employing Abaqus and taking the joint peak forth and torque from the dynamical analysis as the boundary condition of structural analysis,and the analysis result indicates that the spraying robot meets the design requirements.Finally, the critical arm has been designed by means of topology optimization in order to balance the demands for high stiffness and strength with low weight. The optimizing analysis is applied to the arm by employing topology optimization. According to the original arm structure and actual working condition, the base model of topological optimization is selected, and topological optimization is applied to the arm by setting two goals to compare the result,and the topological map of the optimal layout of the arm materials, which provides the direction for the redesigning.After reusing Abaqus to analyze and compare the structure of the redesigned arm, the new arm is actually lightened on the condition that structural rigidity is no major change.