Dynamics Analysis And Simulation Of Nickel Anode Plate Handling Robot

The nickel anode plate handling robot is a typical industrial robot because of its large working range,flexible movement,compact structure,and ability to grab objects close to the machine base.According to the structural characteristics of the nickel anode plate handling robot,the 3D model of the handling robot was drawn using Solid Works 3D design software.The dynamic model of the nickel anode plate handling robot was established and analyzed.Based on the ADAMS simulation software,the simulation model of the robot is constructed,the dynamic simulation is carried out,and the force curve of the joint is obtained.It lays the foundation for optimizing the structure design and control system design of the handling robot.The purpose is to directly transport the nickel anode plate to the destination to truly realize the purpose of delivering goods to people;thus,this type of handling robot is designed.Solid Works and Workbench software are used to establish a 3D model and finite element model,carry out a detailed design of the nickel anode plate handling robot,carry out modal analysis on the main structure of the robot,and analyze its external excitation source.The mounting plate of the lifting mechanism on both sides was the main factor affecting the dynamic characteristics,and the designed handling structure would not resonate due to external excitation.Conclusion the overall structure of the handling robot is novel,and the design is reasonable,which can realize the handling of nickel anode plates and has high application value.The thesis has carried out many aspects of research on the palletizing and handling robot and completed the research on the mechanical structure design,kinematics modeling,dynamics modeling,motion simulation,and modal analysis of the nickel anode plate handling robot.Specifically include the following:The handling robot is introduced,and the domestic and foreign research status of handling robots is reviewed.According to the actual production line process,determine the efficient handling method of the nickel prototype plate;design the main components of the handling robot.The mathematical model of the handling robot was established by using the D-H method,and the motion analysis and mechanical performance analysis of the handling robot were carried out;the handling robot’s kinematics and dynamics analysis was carried out using Adams software.The modal analysis of the handling robot was carried out using ANSYS workbench software.