Three-dimensional Design And Static And Dynamic Analyse Of Polishing Robot Arm

Robot technique as a synthesis system, which includes kinematics and dynamics theory, machine design and manufacture, computer hardware and software, control theory, sensor technology, artificial intelligence and so on, is widely used in scope of industrial production, exploration of the space and the sea, national defense etc. In the process of the manufacturing of the shell of solid rocket, there is a thin inadhesion layer on the insider shell. And we have to scrape off the layer because it is in the way of the later manufacturing process. The milling work was done by hand before. It's not only inefficient, but also harmful to the workers'health because of the dust. In order to solve these problems, we have developed this polishing robot.Polishing robot is a moving robot with four DOF. The job contains wheel structure and mechanical arm design, and this paper doesn't involve wheel structure. The arm has 3 degrees like human arm, and end offector with flexible and rigidity frame can polish the target through adjusting the angle of joints. Firstly, Robot automate planning technology is researched deeply in this paper. The polishing robot planning system is described as an example, including modeling of assignment and working condition, operate assignment decomposing principle, solving and realizing of sub-assignment. And through kinematics analysis of robot, the key parameters of arm is designed.Secondly, based on the Pro/E software, we have designed the arm of polishing robot, including the determination and optimization of key parameters, and designed the solid models of big arm, small arm and wrist. Then chosen the transmission method of small arm and wrist, and identified as chain drive.Finally, in order to check the rationality of machinery design and planning result, this paper transmits the solid model from Pro/E to ANSYS for the analysis of intensity and rigidity, and find out the sites of the maximum stress and the maximum deformation. Then this paper performs the dynamic analysis of arm, including modal, harmonic and transient, which help to determine the nature frequency of arm and the vibration and deformation states with uncertain loading incentives of arm.