Motion Simulation and Optimization Study of Manipulator with 4-Dof Based on Hydraulic Driving

Abstract:

This article conducts a detailed research on design of specific robot with 4-Dof based on hydraulic driving, using the advanced CATIA to achieve the motion simulation and applying ANSYS to optimize structure of main parts by finite elements analysis. D-H coordinate system and the homogeneous coordinate transformation matrix are used to describe the posture and position of robot, which give the kinematics equations of the robot .With the result of simulation and design by CATIA, interference between each part of the robot is examined and eliminated in advance. ANSYS analysis gives the result of stress and strain, which help optimize the structure design. With careful design and targeted optimization, the result shows that trajectory and stability are in accordance with the work scheduled to meet the design requirements and that designing with CATIA and ANSYS can improve quality and efficiency greatly.

• Periodical: Applied Mechanics and Materials (Volumes 246-247)
• Pages: 1170-1174
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.246-247.1170
• Online since: December 2012
• Authors: Xin Tang
• Keywords: 4-Dof Manipulator, ANSYS Analysis, Hydraulic Drive, Optimization Researching

References

[1] Jing Jiang, From manipulator to service robot, Today's science, CN, (2009).

[2] Hongjiang Guo, technology of industrial robot, Xian university of electronic and technology press, CN, (2006).

[3] Ci Fan, PLD theory and application, Beijing institute of technology press, CN, (2006).

[4] Daxing Yue, hydraulic driving and gas driving, Beijing institute of technology press, CN, (2006).

[5] Craig C C, Adaptive Control of Mechanical Manipulators. New York: Addison-Wesley Publishing Company, (1998).

[6] Yoshikawa T, Foundation of Robotics: Analysis and control. Cambrige, USA, MIT press, (1990).

[7] Spong M W, Viddyasagar M, Robot Dynamics and Control. New York: John Wiley& Sons Press, (1990).

[8] Huo W, New formula for complete determining the base parameters of robots. In processing of the 1995 IEEE Int. Conf. on Robotics and Automation, 3021~3026.

[9] Soltine J J E, Li W, On the adaptive approach to motion and force control of multiple coordinated robot arms. In proceeding of the 1989 IEEE Int. Conf. on Robotics and Automation , 1091~1096.

DOI: 10.1109/robot.1989.100126

[10] Nobel B, Application Linear Algebra. New Jersey: Pretice-Hall, (1969).