Dynamic modeling and finite element structural optimization of glass handling robot
International Journal of Structural Integrity
Article publication date: 12 June 2017
The purpose of this paper is to design a glass handling robot and conduct a finite element analysis and structural optimization to solve the automation handling problem of large-scale glass production line and aiming at the phenomenon that the vibration of robot manipulator may result in breakage of glass products, especially the fragile chemical or medical glassware. Making modal analysis for the robot is to determine its natural frequencies and vibration modes and lay a foundation for the transient analysis to study the vibration shock response of the robot during its start-up and emergency stop operation.
First, a 3D model of the robot is established according to the requirements of the production field and a finite element model is built on the basis of the 3D model. Then the modal and transient analyses of the robot are carried out according to the fact that the maximum vibration impact of the robot usually appears at the start and emergency stop.
The structure of the robot is improved according to the results of finite element analysis. The dynamic analysis results show that the improved robot’s ability to resist deformation under the impact of vibration shock is enhanced, and the robot can operate smoothly and meet the requirements of design in industrial environments.
The research results avoided the damage caused by the vibration and improved the service life of the robot, providing a foundation for the structural design and mass production of the glass handling robot.
Grateful acknowledgment is given to the financial supports from the National Natural Science Foundation of China with Grant No. 51375264 and Science and Technology Major Project of Shandong Province with Grant No. 2015JMRH0218. This work was also partially supported by State Key Laboratory of Robotics and System (HIT) with Grant No. SKLRS-2015-MS-06, and China Post-doctoral Science Foundation with Grant Nos 2014T70632 and 2013M530318, and Research Awards Fund for Excellent Young and Middle-aged Scientists of Shandong Province with Grant No. BS2013ZZ008.
Zhang, C., Yu, F., Duan, H. and Chen, Y. (2017), "Dynamic modeling and finite element structural optimization of glass handling robot", International Journal of Structural Integrity, Vol. 8 No. 3, pp. 423-434. https://doi.org/10.1108/IJSI-08-2016-0027
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