Finite element analysis and optimization for articular structure of palletizing robot

XU Jin-zhang, WANG Yan-fei
（Department of Mechanical Engineering, Taian Technician College, Taian 271000, China）

Abstract: Aiming at the problem of joint transmission accuracy of heavy-duty palletizing robot, the gear shaft which played the role of transmitting torque in the joint transmission structure of the second axis of the fourjoint palletizing robot was studied. The potential factors affecting the running accuracy of industrial robots in the process of robot assembly were summarized,and an improved method to improve the force condition of gear shaft was designed,which enabled the possibility of the pre-pressure between the gear shaft and the RV reducer was reduced during the operation of the industrial robot. The three-dimensional model of the robot was built with SolidWorks software, and the second axis joint transmission structure of the robot was analyzed with ANSYS and ADAMS software. A bearing was added to guide and support the gear shaft, and the simulation analysis was carried out. The repeated positioning accuracy of the improved prototype was tested. The results indicate that the improved structure can improve the force condition of the gear shaft, and reduce the influence of assembly process, parts error and other factors on the robot running accuracy.It can be used for reference in the structural design of the articulated robot.
Key words: palletizing robot; gear shaft; ANSYS; ADAMS; simulation