Study On Dynamic Analysis And Optimal Design Of Five Degree Of Freedom Linkage Manipulator

Industrial manipulator is one of the most important parts of the national manufacturing system,and a variety of new manipulators are emerging.With the disappearance of demographic dividend and the increase of employment cost,the sustainable development of manufacturing industry is affected to a certain extent.With upgrading and the launch of "made in China 2025" and the gradual promotion of industrial transformation,the demand of domestic manufacturing industry for intelligent equipment represented by industrial robots has also ushered in an unprecedented outbreak period.In this paper,using CAD / CAE technology as the core computer-aided technology,the performance and related factors of the five degree of freedom linkage grinding manipulator are analyzed and studied from the static and dynamic aspects.This paper introduces the technical parameters,structure design,The working process and principle of the manipulator are introduced,and the mechanical structure design of each part of the manipulator is completed.The three-dimensional model of the manipulator is introduced into Adams,and the whole operation process of the manipulator is simulated dynamically.The operation range and attitude of the manipulator are analyzed and evaluated.The variation rules of each link variable and the end of the manipulator are obtained.The influence of four key factors on the dynamic characteristics of the manipulator,such as grinding wheel thickness,cutting thickness,grinding wheel speed and grinding beat,is analyzed The load of each connecting rod and gear pair and the vibration parameters of the grinding wheel edge are obtained,and the maximum load is obtained,which provides the basis for the optimal design of the manipulator.On the basis of reasonable simplification of the model,the appropriate element type and element size are selected to divide the mesh.ANSYS Workbench software is used to carry out the finite element and modal calculation of the finite element model,and the stress nephogram and displacement nephogram of the manipulator under the typical working attitude are obtained.The overall stress level of the manipulator under the typical attitude is not high,and the strength meets the requirements,especially the strength of the beam And the natural frequencies and modal shapes of the main beam,crossbeam and turntable are calculated to provide data support for the improvement of the manipulator.On the premise of reasonable overall layout,sufficient structural strength is ensured,and the inertia force is reduced by lightening,so as to optimize the structural design of key components.Based on the results of dynamic analysis,static analysis and modal analysis of virtual prototype,the mechanical behavior of the key component beam is calculated by using the finite element method,and the minimum design area volume is taken as the optimization objective to carry out topological optimization calculation;the new structural scheme is designed by taking the results of topological optimization as reference;the new structure is verified and compared by the mechanical characteristics and modal parameters The optimal beam configuration of the manipulator is obtained.Finally,the purpose of lightweight structure and optimizing the dynamic characteristics of manipulator is achieved.The dissertation includes 71 figures,13 tables,83 references.