重载码垛机器人设计及动力学性能研究

Mechanical Design and Reseach on Dynamics Performance of Heavy-load Palletizing Robot

重载码垛机器人设计中,机器人的动力学性能分析与优化设计是非常重要的环节。以EMT500重载码垛机器人为研究对象,采用拉格朗日法建立EMT500机器人的动力学模型,推导出EMT-500型机器人的系统动力学方程,综合验证了机器人各关节电机和减速器的选型准确性。然后采用ADAMS和ANSYS联合仿真,对EMT500型机器人进行刚柔耦合动力学仿真分析,为优化机器人动态性能提供了更准确的依据。

Dynamics performance analysis and structure optimization is a extremely important technical compo- nents in the design of heavy load palletizing robot. As an example, the paper firstly introduce how to establish dynam- ics model based on the theory of Lagrange method for EMTS00 heavy load palletizing robot, which comprehensively verifies the selection of drive components. Then aiming at providing a more real dynamics performance experiment, rigid-flexible coupling model of EMT500 is established in ANSYS. Finally the perfirmance of instantaneous deforma- tion is studied according to result comparison between rigid-flexible coupling dynamics simulation and rigid dynamics simulation in ADAMS.