Abstract: In order to accurately analyze the advantages and disadvantages of the structure design of heavy-load transfer robot,the rigid-flexible coupling multi-body model of heavy-load transfer robot for performance analysis is built up with ADAMS.The dynamic simulation under typical working conditions of heavy load transportation of heavy-load transfer robot is carried out based on the model,the advantages and disadvantages of different kinds of motor control methods are analyzed,and the vibration displacement of heavy load transfer robot is analyzed.The structure of heavy-load transfer robot is optimized by the analysis results,and the validity of the structure optimization is verified by the dynamic simulation of heavy-load transfer robot’s rigid-flexible coupling model.The applied modeling and analysis method is simple and reliable,which can improve the work efficiency,and has a certain engineering practical value.

Key words: heavy-load transfer robot, rigid-flexible coupling, dynamic simulation, structural optimization