The Research And Design Of Gear Polishing Robot

Robot can be viewed as an effective extensional tool of human’s ability. As an important branch of the robot family, industry robot is an important research and development orientation. General, gears in factory usually have a badly abrasion in the surface of teeth. For saving cost, gears are polished after welded. The traditional manual polish method is not only inefficiency and low-quality, but also the dust, which is great harm for the health of staffs. In order to improve production efficiency and improve the working environment, people have developed polishing robot to achieve the polishing process automatically and intelligent.Firstly, the purpose of this article is to develop a special polishing robot, which is composed of four degrees. With the help of polishing robot, the task of polishing involute could be completed by the cooperation of each joint’coordinated movement. According to the request of polishing, we confirm the institution composition, degrees of freedom and joint coordinates form of the robot. Then, based on the Solidworks software, we have analyzed kinematics and dynamics of the polishing robot.Secondly, take the machinery hand as a research object. Based on it, establish the kinematics module of the machinery hand under connecting rod coordinate with the method of Denavit-Hartenberg. And the kinematics positive and reverse solutions to it are carried out. Deduce the formula of each joint angle in kinematics. Then confirm the equation of involute according to the requests of polishing and the parameters of the gear, and confirm the parameters of each stem and polishing hand.Lastly, in Cartesian space, linear trajectories and arc trajectories are discussed deeply. According to the characteristics of involute, we define the method of involute interpolation based on the method of time-division. Then get the kinematics data of each joint by involute interpolation using Matlab software and analyze the error. The positions of each joint varies with planning points continuously and smoothly, the velocity and acceleration are steady, which can satisfy the accuracy request. The robot is simulated by the SimMechanics tool box in Matlab based on knowing the robot stem parameters and the data of the involute interpolation. Then get the condition of each stem, the force each joint supported and the end trajectories.