Coupling Characteristics Analysis And Structure Optimization Of Truss Robot

With the continuous advance of “ Made in China 2025”strategy,intelligent manufacturing has become the main direction of the transformation and upgrading of manufacturing industr y in China.And industrial robot,being applied more and more widel y,pla ys an important role in this industrial revolution.It can connect automatic processing equipment,and improve production efficienc y.The rationalit y of robot structure will directl y affect the operation of the whole production line and the stabilit y of product quality.But we know that,there is still a large gap in the design and manufacture of industrial robot between the domestic and foreign,thanks to the lack of in-depth theoretical anal ysis and optimization design in the design stage.So it is necessar y to use the modern advanced anal ysis and design method to anal yz e and optimize the structure of the robot in order to improve its working performance.This paper summarizes the development of related research status about industrial robots at the domestic and foreign.According to the structural characteristics of truss robot,theoretical analysis,simulation analysis and experimental study are carried out to stud y the dynamic response and structural weakness of the truss robot.First of all,aiming at the t ypical condition of truss robot,the rigid-flexible coupled d ynamic model based on Recur D yn is established in order to anal yz e the effect of flexibility of beam and slide on the trajector y accurac y of the end-effecter.Then,when the mass at the top moves horizontall y on the beam of truss robot,the d ynamic response of the whole system varies with the load position.D ynamic coupling vibration model of truss robot is set up to anal yz e the d ynamic response and deflection of beam in the case of moving end mass with different initial velocit y and acceleration.After that,based on the anal ysis of finite element simulation and monitorin g test,this paper use Matlab for frequenc y domain integral of acceleration signal,The influence of load and speed on the performance of truss robot is anal yz ed.the structure and t ypical working conditions of the truss robot are anal yz ed,thus the structure optimization object is established,and the improvement suggestions are put forward.Finally,structural optimization of truss robot is carried out b y improvement of column structure and optimization design of multi dimension of beam structure.The d ynamic characteristics and structural stiffness of the truss robot are improved obviously.