Simulation And Trajectory Planning Research Of 4-axis Loading/unloading Robot Used For Stamping

With the rapid development of the manufacturing industry,the traditional stamping production line has been unable to meet the development needs of the stamping enterprises due to the rising labor costs,low efficiency and poor safety.At the same time,stamping parts also show the development trend of small batch and mult-varieties.The use of robots to form flexible automated production lines has become the preferred way to replace traditional production lines.However,there are many problems such as high cost and difficult to maintain for the common articular stamping loading/unloading robot,which are not suitable for small and medium sized stamping enterprises.Therefore,this paper develops a loading/unloading robot used for stamping with reasonable price,good flexibility and convenient maintenance,and the key technologies such as its design,lightweight parts,structural optimization design,kinematics analysis and trajectory planning are studied.Specific research contents are as follows:First of all,the process of stamping production line is analyzed to determine the design parameters of the loading/unloading robot used for stamping.And on the basis of this,the main body structure and the transmission mechanism design of the robot are determined.Solidworks is used to complete the three-dimensional of the robot,and the servo motor of each shaft is selected.At the same time,according to the mould of the experimental press,designs the tooling of the robot.Secondly,in the aspect of the mechanical structure part of the robot,Ansys Workbench is used to analyze the static strength of the important parts,and the topological optimization of the parts is carried out to reach the goal of the lightweight design under the premise of ensuring strength.At the same time,the multi-objective optimization design of the small manipulator is carried out,in order to reduce the weight of the arm greatly under the the deformation condition and strength condition reach the standard.Finally,modal analysis is done on the overall structure of robot in the initial position and extreme,concluded that the speed which the servo motor should be avoided.Finally,in the aspect of the transmission mechanism part of the robot.The connecting rod coordinate system of the robot is established by using the D-H method,and the positive and the reverse kinematics are solved.Then use the ADAMS to carry out the kinematics simulation of the robot's actual working conditions.The final displacement,velocity and acceleration curve of the end picker are obtained,which verified the rationality of the design,and the correctness of the theoretical design is verified by the prototype experiment.Finally,the trajectory planning of the robot is studied in the joint space and cartesian coordinates space.In the joint space,the cubic polynomial interpolation,the fifth order polynomial interpolation and the "353" polynomial interpolation are described and simulated,The results show that the polynomial interpolation with high and low order combination is better than single polynomial interpolation in joint space.In the cartesian coordinate system,the linear interpolation is described and simulated,and it is verified that the use of linear interpolation inside the press can ensure that the trajectory of the end tooling is straight,so as to avoid the collision inside the press.