Design And Implementation Of 4 DOF Cylindrical Coordinates Robot

With the development of modern manufacturing technology,stamping technology has a significant demand for developing in the direction of high speed,automation and flexibility.However,most loading and unloading work of domestic sheet metal stamping is still done by manual operation at present.Some problems exist,such as low productivity,relatively poor production environment,high labor intensity and accident-prone personal injury.Some domestic stamping production enterprises have solved these problems by introducing foreign 6 DOF robots instead of workers,which can constitute stamping automated production units or flexible automatic production line.However,the investment cost is very high,and it is not economic for the small and medium-sized stamping production enterprises.Therefore,developing the economic and dedicated robots has become the best choice for the small and medium-sized stamping production enterprises to realize the automatic stamping production.Based on the requirements of Fujian University-industry Cooperation Major Project "Automatic Conveying Robot and System Integration Equipment for Stamping Production Line",this paper develops a conveying robot with a certain flexibility,programmable and rapid loading and unloading.The concept of modular design is adopted to design the robot body.Each module is independent,compact structure,easy to install and have a certain capacity to extend joints.In view of the stamping feeding robot design,the research contents are carried out as follows:Firstly,according to the given technological requirements and punch layout of the stamping production line,the environment space of feeding robot is set up.The configuration design,main technical specifications and size parameters are also determined.Secondly,an overall design scheme of robot body is determined in according with the robot configuration.Then this paper mainly focuses the robot structure design and optimization of each joint,including the transmission selection and load calculation.Based on a linear interpolation function of parabolic transition,the trajectory planning of each joint in a production rhythm are completed to select the driver motors,transmission and end actuator vacuum system.Then,this paper establishes the kinematics model for the designed feeding robot based on D-H method,and proposes a linear interpolation algorithm based on constant time intervals.In view of the characteristics of robot structure,a reachability algorithm of the linear interpolation is also put forward.In addition,the robot control system design is completed based on the architecture of touch screen and PLC.More explains are focused on the robot instructions of MoveJ and MoveL implemented on the PLC.For the Human-Machine Interactive(HMI)system,different human-machine interaction modules are designed,such as the user programming window,file operation,robot state feedback and system parameter settings.Finally,some experiments are conducted to further verify the robot performance indexs,such as the no-load and load performance,repeated positioning accuracy of end actuator and contact ration of liner interpolation.The results show that the designed robot agrees with the expected design requirements.