The Strcture Analysis And Optimization Design On Glazing Robot

Domestic glazing is generally done by manual operation, but the surface of the billet surface shape is very complex, artificial glazing is unable to guarantee the glaze layer. Artificial operation environment is very bad, the production efficiency is low, and it is difficult to guarantee the quality of applying glaze. At the scene of the ceramic production in our country, learning ability of many workers is limited, and the robot glazing requires workers to teach the robot, which is beyond the glazing previously to master the skills of workers. To develop a glazing robot is particularly urgent, at the same time to meet the advantages of low cost and easy to teach, even glazing workers with only ordinary skill can teach the robot.In the basis of the original design 6-DOF glazing robot, a lightweight 5-DOF glazing robot is developed. According to the glazing robot configurations designed for application in teaching, the connecting rod coordinate system is established based on D-H method. Kinematics analysis is carried out on the robot structure, The Jacobian matrix is constructed using the method of vector product. Analyzing the dexterity get the most ingenious configuration and the flexible working range in teaching. Based on the static analysis of balancing mechanism, the optimal location of balancing mechanism and the spring stiffness coefficient are obtained. Complete the optimization of robot configuration and balancing mechanism. Robot virtual prototype is established by CREO2.0 and then it is imported into the ADAMS simulation software By adding constraints and drive to it, make Kinematics simulation and get the data graph to analysis.Glazing robot has the ability to carry out glazing process very well, at the same time also has the characteristics of lightweight and low cost. The glazing robot has two transmission routes at the same time. There are three kinds of states: teaching, work, and neutral. A transmission route is for teaching and another for glazing work. The two transmission routes can be exchanged by switching device.