Statics and Dynamics Simulation Analysis of the Industrial Robot Arm Structure Based on the Generative Design

摘要

This paper presents the results of analyzing the statics and dynamics models of the industrial welding robot with 6 degrees of freedom (DOF) before and after optimizing the geometric structure based on the Generative Design (GD) module on the INVENTOR software. The second link (2 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">nd</sup> link) on the robot was selected for the optimized design of the structure with the criteria of mass, stress and displacement. The static model of the robot is established in the general case. The position of the maximum load at joints 2 and joint 3 is directly related to the optimal link considered. The force and moment values acting on these joints are calculated as the basis for determining the static stress and displacement. Similarly, the dynamics model of the robot is considered in the state of motion with the maximum velocity of joint 2. The post-optimized part reduces the mass by 39% compared to the original. The results of the post-optimized dynamics analysis showed that the maximum stress and displacement on link 2 decreased by 53.95% and 46.06%, respectively. The results of this study can be used as a basis to investigate the kinematics and dynamics of the robot during motion such as velocity, acceleration, driving torque and trajectory programming. Moreover, the problem of reducing energy consumption costs as well as reducing fabricating costs based on additive manufacturing technology can also be interested and developed in the near future.