Research On Some Key Technologies Of The Industrial Robot

With the development of science technology, the use of industrial robots has became a key performance indicator to measure a country’s automation level. In recent years, industrial robot is becoming more and more lightweight, high-speed, intelligent and high-precision. Meanwhile China’s manufacturing industry is facing a critical transformation by introducing advanced equipment, accelerating the technology development and production of industrial robot decides the success of transformation. However, with the improvement of industrial automation level, industrial robot needs to be more sophisticated. Based on the equipment of industrial robot, and the observation of production line, in order to reduce the labor intensity of the worker and increase productivity, and to meet the automated production demand, this paper focus on exploring and researching some key technologies of industrial robots.Firstly, researched the robot trajectory planning theory, introduced the performance of curve, such as velocity, acceleration and impact, derived and comparing the formulas of different curves and different combination, then analyzed the performance indicators of the curve, summarized the advantages and disadvantages of each curve, concluded the method of select and design a trajectory curve.With the basis of trajectory planning, researched the rigid error analysis and compensation method of industrial robot, launched a study to analyze the main factors of robot pose error, introducing the correct D-H model, modeling the robot error. Using matlab to simulate the model of robot pose error, analyzed the main source of the robot end-effector pose error, and the pose error is compensated though the perturbation error compensation; then, based on the finite element theory and Lagrange equations, analyzed the modeling method of the robot flexible-dynamic equations, a virtual prototype of industrial robots was created, combined matlab^ adams and ansys to conduct the kinematics and dynamics simulation analysis of the rigid-flexible coupling model. Explore the effect of circular path and straight path on the elastic vibration of the robot when achieve point to point trajectory planning, got the typical working condition displacement deviation curve of the robot end-effector, and expanded the research of how to compensating the flexible vibration, and proposed a method of compensating the flexible vibration of industrial robots based on trajectory planning.Finally, researched the method of industrial robot virtual simulation superficially, configuration the virtual simulation process of industrial robots, established the visualization virtual simulation model, and proposed an idea to build virtual simulation platform based on a programmable environment.Based on the hardware basis, this paper mainly expanded the research of the key technology of industrial robot, such as trajectory planning, error analysis, flexible compensation and virtual simulation, which has a certain reference significance for the research and application of industrial robots.