Dynamic Analysis and Structural Optimization of Heavy-Duty Robots for Installing Overhead Contact Wire Suspension Columns
The structural design and optimization in terms of kinematics and statics cannot fully meet the working characteristics of high-precision,heavy load,and high reliability for the installation of heavy-duty robots on overhead contact wire suspension columns.It is necessary to master the dynamic characteristics of the robot and conduct structural optimization research on the overall structure of the robot based on dynamic characteristics.Firstly,a rigid flexible coupling dynamic model of the robot was established based on the Kane method.Modal simulation analysis and harmonic response analysis were conducted on the robot body structure under typical poses in ANSYS finite element analysis software.Through modal simulation vibration mode analysis,it was found that the lateral torsional vibration of the robot arm and joint flexibility are the main reasons affecting the dynamic characteristics.Based on dynamic simulation and harmonious response results,a multi-objective optimization design based on response surface method is carried out on the boom to improve the dynamic performance of the entire machine.The results show that the low order natural frequency of the robot has been increased from 5.81 Hz to 14.43 Hz,and the dynamic performance of the entire machine has been greatly improved,verifying the effectiveness of structural optimization.
contact networkheavy-duty robotdynamic characteristicsfinite element simulationstructural optimization
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