Dynamics modeling and simulation analysis of 6-DOF intelligent cooperative robot

Abstract

In order to study the influence of flexible components on the motion characteristics of a series 6-DOF intelligent cooperative robot, the rigid joints and links of the robot are flexibly replaced. A multi flexible body dynamic model reflecting the mechanical characteristics of the robot is established by using the Lagrange equation method. Based on ADAMS and ANSYS software, virtual prototype technology is used to realize the simulation analysis of robot dynamics. The change rules of position, velocity and acceleration of each joint under different working conditions were obtained, as well as the time history of driving force and driving torque of joint 1 and joint 2 with large force. The coupling characteristics of the mechanism under different motion states are analyzed and compared with the fully rigid series robot. The results show that the motion trends of the end-effectors of the two models are consistent, but the flexibility of the components has a great influence on the positioning accuracy of the end-effector. The joint and connecting rod with large stress were obtained by multi-flexible body dynamic simulation, which provides a reference for the structural strength improvement and lightweight design of the working device. Therefore, the establishment of a correct rigid-flexible coupling dynamics model has a certain guiding significance.