Dynamic Simulation of Four-DOF Handling Robot under Different Driving Modes

Abstract

The working conditions of different driving modes can affect the speed and acceleration of the handling part of the handling robot. In this paper, the cylindrical coordinate four-degree-of-freedom handling robot was taken as the research object, and the dynamic model was established by the Lagrangian equation for the handling robot. In this paper, three driving modes of the handling robot were set up, and the dynamics simulation analysis was carried out in the Adams simulation software. The speed and acceleration of the grabbing position under the three conditions of low speed, normal and critical speed were studied. The results shown that the speed of the hand end of the robot was proportional to the speed required under different working conditions. The acceleration was proportional to the normal and low speed conditions, but under the critical condition, the acceleration has a "W" type change instead of Linear change. This result provides an effective experimental basis for the subsequent optimization design of such robot transmission rods.