Dynamic Simulation And Lightweight Design Of ER300 Palletizing Robot

The palletizing robot is developed with the development of industrial robot. It is playing an increasingly important role in the field of logistics automation and has been widely used in every field of life. In this paper, the ER300 palletizing robot, which has four degrees of freedom and is often used in the factory, is considered as the research object, and then, the ADAMS analysis, the stress analysis to verify the analysis results of ADAMS, the ABAQUS analysis before optimization, the stress and strain experiment to verify the results of ABAQUS and the structural optimization design are carried out for it.Firstly, the structural characteristic of the palletizing ER300 has been illustrated. According to the current application situation of palletizing robot, the demand of optimization design was analyzed and then the framework of structural optimization design is proposed.Second, the dynamic simulation model of ER300 palletizing robot is established. The risk gesture and the stress of risk gesture are got by the dynamics simulation of ADAMS. By simplifying the palletizing robot system to Linkage Mechanism, we can also get the stress of risk gesture. So we use it to verify the analysis results of ADAMS.Thirdly, the finite element (FE) model of the ER300 palletizing robot is developed for the finite element analysis. Through the analysis of ABAQUS, we can get the stress cloud and the displacement cloud. According to the analysis results of ABAQUS, we can conclude that the structure has a great optimization space. Modal analysis was carried out to show that resonance will not occur.Fourthly, in order to verify the analysis result of ABAQUS and ensure the accuracy of analysis results, the stress and strain experiment was carried out to measure the actual stress of the different gesture of the ER300 palletizing robot.Finally, according to the analysis results of the ABAQUS, take the minimum volume as the objective function for the structural lightweight design. Under the condition that it meets the requirement of strength and stiffness, we reduce its weight as much as possible to reach the purpose of optimization. Eventually we get the weight percentage of each main parts and the weight percentage of the ER300 palletizing robot. Modal analysis after optimization was carried out to show that the ER300 palletizing robot after optimization is better stability and the resonance is less likely to occur.