Rigid-Body Dynamics Modeling and Core Functional Component Selection for Heavy-Duty Industrial Robots

The selection and design of core functional components are a primary task in the engineering design of heavy-duty industrial robots, in which joint constraint forces and moments act as essential indicators for component selection. This paper proposes a general inverse rigid-body dynamics model for serial kinematic chains that explicitly incorporates joint constraint forces and moments. On this basis, a rigid-body dynamics model for heavy-duty industrial robots is established, which fully considers inertia, gravity, and balancing forces of the balance system, and is verified through dynamic simulations. Corresponding selection and design criteria are then formulated for joint motors, RV reducers, and balance systems. Simulation analyses and prototype full-load tests jointly confirm that the robot meets the 1000 kg load capacity requirement and validate the effectiveness of the proposed selection and design criteria. This study provides a reliable theoretical and engineering reference for the design and development of heavy-duty industrial robots.