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Research on Dynamic Design for High Performance Parallelogram Manipulator

Author: ChenLin
Tutor: DuZhiJiang
School: Harbin Institute of Technology
Course: Mechanical and Electronic Engineering
Keywords: Dynamic Design Method High - performance robot Rigid body dynamics Elastodynamic
CLC: TP241
Type: Master's thesis
Year: 2009
Downloads: 101
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Abstract


The robot is the core equipment for the automated production line in light industry, electronics and other industries, with the development of technology increasing accuracy and smooth movement of the robot movement index requirements. From the point of view of institutional dynamics analysis, these indicators require the robot to have a good dynamic performance at high speeds. In this paper, the actual demand high performance parallelogram robot as research object, using kinematic analysis to dynamic analysis, rigid body dynamics model to the elastic model optimized from the agency to the dynamic structure optimization design method, the robot design and optimization. First, in the initial configuration of the manipulator on the basis of a kinematic analysis, the establishment of the robotic kinematics model, including position, velocity, acceleration, the analytic expression; based on the kinematic performance evaluation indexes investigated the kinematics of the manipulator, while construct the kinematic performance evaluation and institutions parameter optimization objective function. Second, dynamic analysis, rigid body dynamics model of the robot and the rigid body dynamics performance evaluation; institutions parameter optimization model is established on the basis of the length of the rod, the cross-sectional area as the design variables, the moving structures the joint coupling degree of driving torque and drive power indicators inertia value, the kinetic equation as the objective function in a given workspace, kinematics, rigid body dynamics of a variety of constraints, with the help of non-disposable genetic algorithm to complete robot institutions parameter optimization. Parallel quadrilateral high-speed movement of the robot in the inertial excitation shows a certain degree of flexibility. Therefore, using the theory of finite element beam element simulation rod pieces of flexible, establishing a manipulator elastic dynamics finite element theory model;, and on this basis to establish a mechanical hand structure parameter optimization model, to rod pieces of the cross-sectional area as the design variables, the manipulator of the first order, second order natural frequency global rms value as the objective function, given the constraints of the overall quality of the robot, with the non-dominant genetic algorithm to complete the parameter optimization of the structure of the robot. Elastodynamic robot software simulation model using the finite element software (PATRAN, NASTAN) and mechanical system dynamics simulation software (ADAMS) and modal analysis to verify the correctness of the theory of finite element model. The design on the basis of the above analysis and optimization to determine body parameters of a parallelogram manipulator rod material, length, cross section, and select the appropriate key components of the servo motor and reducer, motor inertia matching checking. Finally, the robot prototype modal experiments, testing the robot's natural frequency, a natural frequency value compared to the experimental results verify the feasibility and accuracy of the model of the the elastic dynamics simulation method and analysis software simulation model.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Manipulator
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