Analysis and Simulation of the Dynamics of Nickel Anode Plate Handling Robot

Abstract

As an integral part of the industrial automation system, a joint robot with artificial intelligence technology, virtual prototype technology and co-simulation technology has developed rapidly. In particular, the development of coordinated control technology makes the robot trajectory tracking control advance in the direction of higher precision and higher efficiency and makes the whole robot system has high fitting human nature, high universality, high scalability and so on. In this study, for the structural characteristics of the nickel anode plate handling robot, a three-dimensional model of the handling robot was drawn using SolidWorks 3D design software. The linkage coordinate system of the robot is established by the D-H method. The dynamics model of the nickel anode plate handling robot was established using the Lagrange method and dynamics analysis was carried out. The simulation model of the robot was constructed based on ADAMS simulation software and the dynamics simulation was carried out to obtain the force curves of the joints. It lays the foundation for further optimization of the structure design and control system design of the handling robot.