| With the decreasing domestic labor force and the increasing aging population,thelabor is not cheap as it once was, many enterprises are facing the crisis of rising laborcosts. In the logistics automation,traditional manual palletizing is substituted by robotshas become an inevitable trend. Currently, the research and application of industrialrobots in China is far away from that in the developed countries. Reasonable design forthe structure of the robot and developing high-performance physical prototypes is ofgreat significance to cut down the cost of the robot as well as improving the level of thedomestic industry production automation.Funded by the national "863" project, a4DOF palletizing robot was designed, andthe related technology research of which was carried out as follows:(1) The detailed mechanical design of critical structures of the robot was carried outand the movement characteristics of each component was described,and the3D modelof the whole palletizing robot was build by means of the SOLIDWORKS software.(2) Combined with the finite element analysis software ANSYS Workbench, thestrength and stiffness statics analysis for the entire structure of arm of palletizing robotwas carried out at the four representative operating limit positions of the robot.(3) The overall modal analysis of parallel mechanism of arm was conducted at theoperating limit position of the palletizing robot, and the first six-order naturalfrequencies and mode of vibration was gained, which can provide the basis forsubsequent analysis.(4) On the basis of static analysis and modal analysis of palletizing robot, therelatively dangerous position was identified. The ANSYS Design Xplorer was used tomake lightweighting optimial design of key component of the palletizing robot underthe condition that the strength and stiffness of these three key components meet thedesign requirements, which will help to improve the overall structural performance ofthe palletizing robot, save materials and reduce production costs. |
