Modular Design And Partial Software Development Of Industrial Robot Mechanical Noumenon

With the formulation of the "Made in China 2025",China has accelerated the pace of transition from a manufacturing power to an intelligent manufacturing power.And with the rapid development of industry and the increase of labor cost,the application of industrial robot technology has become a new trend.However,the design of traditional industrial robots is still at the level of "one user needs,one redesign".In the context of a changing work environment and given tasks,this design approach has its own limitations.Therefore,in order to solve this problem and adapt to the needs of the development of new situation,this article,based on some of the achievements of previous software development for industrial robot design and the modular idea,continues to explore the unfinished software system and aims to establish a complete industrial robot design platform.Using this platform will program the overall design of the robot.Using SolidWorks as a software development platform,the robot's mechanical body adopts a functional division method,and the robot structure is divided into three major types of modules: auxiliary,joint,and functional,which can be completed and built a robot structure module library.At the same time,using the second development of SolidWorks and VB language builds a platform,which can automatically design a robot model and manage the module library.Based on the robot model built,by using the theory of three moving links and human bionics principles,a mathematical model between process conditions and articulated robot size parameters is established to determine the main dimensions of the articulated robot.At the same time,the parameterization design programming and parameterization optimization programming are programmed with VB,which can be used to realize the automatic design of the joint robot parameters.Based on the modular thinking,combining with the D-H parameter method,the module library of link coordinate system group system is established,and the calling principle of it is also made.When the robot model is finished,the corresponding connecting rod coordinate system is going to be established and the connecting rod parameters will also be generated at the same time,which simplifies the static analysis process.Subsequently,the programming of statics autonomic solution is programmed by using VB and MATLAB.Taking feeding robot as an example,the static is solved and verified by simulation.Based on the module library of coordinate system group system,the dynamics of modular robots are analyzed theoretically using Newton-Euler method,and the force and moment balance equations of each joint are deduced.At the same time,the special software for dynamics solution is developed using the mixed programming technology of VB and MATLAB.Using this software will intuitively output the kinetic curve and the maximum drive torque of each joint,which provide the theoretical basis for the choice of the motor of robots.