Structural Design And Dynamic Simulation Research Of 4-Dof Joint Robot

In today's society of mechanized production,industrial robots are becoming more popular,and more and more single repetitive work is borne by robots.Rapid product handling,product delivery is often related to considerable economic benefits.Therefore,people have put forward higher requirements for industrial robots,and it is the focus of the design of the palletizing robot to carry out the handling of various products quickly,accurately and safely.China's research in the field of palletizing robots started late,most of which are based on the research of developed countries.Due to the technical blockade,the level of research on palletizing robots in our country is still inferior from that of developed countries.Therefore,it is very important to accelerate the design of palletizing robot in China.In this paper,from the mechanical design to the three-dimensional modeling,and then to the simulation,and finally to the prototype test,given a set of four-degree-of-freedom on the joint structure and motion analysis of the stacking method.And it can provide a certain degree of reference for the future design of similar stacking robots.Firstly,according to the work requirements to be achieved,the palletizing robot configuration scheme is determined and the main dimensions of the palletizing robot are calculated according to the design requirements,and then the driving mechanism is selected.Utilize 3D modeling software Solidworks to design the main drive part of the robot.Through the calculation and related simulation simulation of the main parts of the operating parameters,and then complete the selection of parts.And finally the three-dimensional model of the whole palletizing robot.Secondly,the model is simplified and the finite element analysis tool is used to study the palletizing robot.The strength and design life of the palletizing robot can meet the requirement of use and have good dynamic characteristics.It is not easy to resonate.?Then,the kinematics analysis and simulation of the palletizing robot are carried out.The kinematics model of the robot is established by D-H method.The kinematic positive and negative solutions are calculated and analyzed.The position,velocity and acceleration of the robot are simulated by ADAMS simulation software and MATLAB drawing software.Finally,the working space of the robot is drawn and the kinematics simulation analysis is carried out.Finally,according to the completion of the structural design,complete the prototype manufacturing,build the relevant test platform,the prototype of the force test,analysis of the work performance of the prototype.