高速重载码垛机器人动力学仿真

Dynamic Simulation of High Speed and Heavy Load Palletizing Robot

目的为了实现大重量、大体积木门等板状物品的快速搬运与包装作业,设计一种适用于高速重载条件下的六自由度码垛机器人。方法针对该机器人,对其关键部件进行选型,通过D-H参数法建立机器人的运动学模型,并进行正逆运动学分析;求取机器人的工作空间,得到机器人所能达到的极限位置,为机器人的布置方案提供参考;运用ADAMS软件建立码垛机器人的动力学模型,对其在将木门进行搬运包装时危险工况进行仿真分析。结果得到码垛机器人处于最大臂展的危险工况下,大臂所受力及力矩最大,所受力及力矩最大值分别为12.9 kN,13.5 MN/mm。为进一步探究大臂的力学特性将大臂进行柔性化处理,得到大臂的力和力矩波动变化,以及最大动应力点,大臂所受力和力矩波动的最大值分别在z方向及y方向处,最大值分别为621 N,895 kN/mm。结论机器人各关节所受力和力矩变化无明显突变,所受刚性冲击较少;证明了在高速重载条件下大臂设计的合理性,为机器人结构的进一步优化及轻量化设计奠定了重要基础。

In order to realize the rapid transportation and packaging for large weight and large volume wooden doors,a 6-DOF palletizing robot was designed.The key parts of the robot are selected,the kinematics model of the robot is established by D-H parameter method,and the forward and inverse kinematics analysis is carried out;the working space of the robot is calculated,and the limit position that the robot can reach is obtained,which provides a reference for the layout scheme of the robot;the dynamic model of the palletizing robot is established by using ADAMS software to carry the wooden door,which is for the simulated analysis of the dangerous working condition of packaging.The results show that when the palletizing robot is in the dangerous condition of maximum arm span,the force and torque of the arm are the largest,and the maximum force and torque are 12.9 kN and 13.5 MN/mm respectively.For the convenience of a further exploration of the mechanical characteristics of the boom,the boom is flexible,and with such a way the force and torque fluctuations and the maximum dynamic stress point of the boom are obtained.The maximum force and torque fluctuations of the boom are 621 N and 895 kN/mm in z direction and y direction respectively.There is no obvious change in the force and torque of each joint of the robot,and the rigid impact is less;it proves the rationality of the design of the arm under the condition of high speed and heavy load,and lays an important foundation for the further optimization and lightweight design of the robot structure.