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

摘要

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.