Stiffiness Modeling And Viscoelastic Dynamic Analysis Of6R Industrial Robot

Painting robot, a kind of industrial robots, is an important spraying equipment.Flexible and stable movements are requisite to fulfill the requirements of integratedcoating process. As more slender and lighter has been the trend for robots, the complianceof joints and links should be considered.In this paper a6DOF series painting robot was studied. We computed the jointstiffness of the painting robot with the consideration of the mechanical structure and thetransmission components.We model critical bearing parts for FEM analysis.Static finite element analysis of theparts were performed in the most dangerous force status, and worked out the distributingnephograms of stress、deformation、maximum displacement of the structure. Based on theanalysis results, Thelocal rigidities of the robot were evaluated. Then the modal analysisfor the structures was completed. The different modes and characteristics of vibrate werestudied.Related low order natural frequency were provided to avoid operation in thevicinity of the resonant frequency.This dissertation studys to build the precise viscoelastic dynamic FEM model of thepainting robot to solve over dynamics modeling and analyzing problems of the paintingrobot with the viscoelastic and joints flexibility.The distribution of strain and stress on thesystem were computed to analyze its structure intensity and rigidity properties. Theresearch of the structure-statics gave out some rules to direct the design optimization ofthe painting robot. Basing the theory of modal analysis, the modes and the vibratility ofthe painting robot were studied. The analysis provided important modal parameter for theoverall response.