Design And Simulation Of Loading And Unloading Robot Arms For Palletizing Handling Robots

The transfer robot is a cutting-edge technology that emerges in the field of industrial automation.It involves comprehensive technical knowledge in various specialties and fields.With the development of robotics technology,the transfer robot has gradually become an important support in the industrial production field.The handling robot combines the intelligence and stability of the human machine with the reliable advantages of the machine.It can meet a variety of specific programming needs and shows a broad application prospect.In this paper,the structure design,statics analysis and dynamics simulation of loading and unloading robotic arm of palletizing robot are studied to design a loading and unloading robotic arm of palletizing robot.First of all,the functional requirements and application requirements of palletizing robots are analyzed,and the mechanical design of the robotic arm is combined with its requirements.Combining the finite element analysis method,the palletizing robot robots are simulated and analyzed.The results of the analysis show that: The largest point of stress occurs at the root of the small arm;the structural strain of the large arm is small,and the rigidity is good.The stress and the maximum strain in each axis are at the step;the requirements for the normal operation of the palletizing robot can be ensured;besides,the Transient dynamics analysis was carried out to study the change of load,damping and inertia of the system along with the change of time.Through analysis,it can be known that the dynamics of the manipulator meets the requirements in both operating conditions.Secondly,using the static calculation results as the boundary conditions,the finite element analysis of the big and small arm components is performed to check whether the strength and stiffness meet the working requirements;and the prestressed modal analysis of the big and small arm components is performed.Through analysis,we can see that the entire small arm has a large degree of front-end deformation.When the external vibration is close to the low-frequency natural frequency,the bending and vibration of the front end of the small-arm can easily be induced;the deformation of the revolute joint of the boom and the cylinder rod under various orders is affected.Larger,attention should be paid to the connection between the boom and the cylinder rod and the lumbar section to avoid damage to the boom components due to external vibration.Finally,based on the static analysis and modal analysis of the palletizing robot,the parallel mechanism of the arm is selected to be in a relatively dangerous position.Using the ANSYS Design Xplorer rapid optimization tool,the key components of the palletizing robot are the arm and the front boom.The lightweight design was optimized for the rear and rear booms,and the quality of the three key components was reduced by43.9%,17.8%,and 15.6%,respectively,on the premise that the strength and stiffness of these three key components met the design requirements.The optimization results were obvious.It helps to improve the overall structure and performance of the palletizing robot,and it also saves materials and reduces production costs.