Dynamics Simulation And Lightweight Research Of Assembly Robot For Coupling With Elastic Spider

With the manufacturing business competition becoming more and more fierce,the goods earnings is squeezed constantly,and the profit margins also is enslaved to the cost during the production.Following the technology of robots adhibition and progressing,the robots are used for replacing workers to finish the job,using robots to assemble have three advantages: low cost,high efficiency and low risk,using robots instead of humans to work is a trend that cannot be avoided.This article focuses on the lightweight and design of robot structure,the goals are improving robot performance,reducing robot production cost and energy consumption,make the cost of assembly work lower than before.The main works and result of this article include the following aspects:(1)Elaborating the robot development at home and abroad systematically,the development application and achievement of robot in assembly industry,finite element analysis’ development and the result what domestic and foreign scholars did in the robot lightweight design.(2)Unite with the real situation of the robot,then we get the homogeneous transformation matrix between contiguous bars,plot the tabulation of the robot D-H coefficient and the connecting rod coordinate system of the robot,and also solve the motion equation of the robot,get the expression that can express any joint angle finally.(3)Research and analyze the robot dynamics equations,establish the dynamic equations of the research object,combine the robot kinematics equations,and obtain the angle change data of each joint during the robot’s working process through software simulation.In the subsequent dynamic simulation process,combined with the angle change data of each joint,the force of the robot base,rotating base and boom is obtained,that is,the force amplitude of the components and the force diagram of the X,Y,and Z directions.(4)The development history of topology optimization method is introduced,according to the characteristics of robot,choosing the variable density method to optimize robot parts.According to analyses the robot parts with finite element software,we get the mechanical nephograms of robot parts and the optimized topological structure of base,rotating seat and large arm after optimization,and also analyses the result of three parts simply,confirming the optimization area preliminarily.(5)Aiming at the problem that topology optimization results can only use 3D printing,which is not conducive to actual production and processing,combined with the actual use situation,three design schemes are proposed,and three secondary design models are obtained.Under the original assembly principle,finishing the analysis of robot parts with finite element software,the results showed that the mass,maximum stress and maximum displacement of the base are reduced by 44.47%,16.67% and 16.71%,respectively;the mass,maximum stress and maximum displacement of the rotating seat are reduced by 42.00%,69.43% and62.33%,respectively;the mass,maximum stress and maximum displacement of the arm are reduced by 33.11%,respectively.While achieving the goal of lightweight robot,it also improves the performance of the robot.