Reliability Analysis Of Movement Accuracy Of Articulated Belt Reducer Robotic ARM

With the advent of the Industry 4.0 era,as a typical automated equipment in industrial production,robotic arm's level of development directly determines the international competitive position of the national manufacturing industry.At present,compared with developed countries,Chinese robotic arm still has many deficiencies,such as low movement accuracy,poor reliability,and backward core technology.Accuracy,as a core index to measure the kinematics performance of a robotic arm,directly determines whether a robotic arm can perform a given task.Accuracy and reliability reflect the ability of a robotic arm to perform a given task.It is a guarantee that the robotic arm's performance is fully exerted.Therefore,the accuracy reliability analysis on robotic arm is of great significance.This essay takes the articulated belt deceleration robotic arm as the research object.The robotic arm uses the timing belt as the reducer.By establishing dynamic model and the precision error model which is influenced by many factors,using the ADAMS simulation to simulate the influence of the robotic arm on the flexibility of the timing belt and the joint clearance.The analysis of dynamic characteristics and reliability of motion accuracy were carried out and finally verified by experiments.The details are as follows:(1)Using the Newton-Euler method to create an ideal dynamic robotic arm model,modeling the main factors affecting the robotic arm's joint clearance and the flexibility of the timing belt,using the multibody dynamics theory to model a dynamic model of the robotic arm flexibly coupled to the joint space and the timing belt.Combining the kinematic equations of the robotic arm,the precision reliability model of the end of the robotic arm is introduced,and the first-order second-order moment method is used to perform the accuracy analysis of the end of the robotic arm.(2)Based on the clearance collision force mathematical model,using the ADAMS virtual prototype simulation software to create a robotic arm model with only clearance.Specifically analyze the different clearance size and the number of different clearance caused by different dynamic characteristics and movement accuracy within the robotic arm motion cycle.The impact and the reliability of the end of the robotic arm are analyzed based on the data obtained from the simulation.(3)Based on the synchronous belt dynamics model,using ADAMS virtual prototyping software to create a robotic arm model with only a timing belt,specifically analyzing the performance changes resulting from the dynamic characteristics and motion accuracy of the robotic arm under different elastic modulus,and the obtained data analyzes the accuracy of the end of the robotic arm.(4)Study the characteristics of a robotic arm that considers the flexible coupling between the joint space and the timing belt.Set up an experimental platform for articulated belt deceleration robotic arms,taking into account both the joint clearance and the flexibility of the timing belt,analyze the dynamic characteristics of the robotic arm under the conditions of simulation and experiment,and obtain the angle and angular velocity data of the robotic arm,and then Matlab software is used to analyze the reliability of the motion accuracy of the robotic arm.By comparing the experimental and simulation reliability data,the accuracy of the dynamic model and the reliability model of the robotic arm considering the flexible coupling between the joint clearance and the timing belt was verified.