6-dof Robot Dynamics Simulation And Double-end Actuator Processing Platform Design

With the development of the times,human society has been stealthily towards the 'industrial 4',and manufacturing industry,as one of the pillar industries of social development,has been in the lead in the speed of development in o ther industries.At present,more and more automatic production lines are applied to the production and processing of various products,which makes the production cycle of the product shorten greatly,and the number of products produced in the same batch i s greatly increased.As an automated production line instead of artificial labor,more and more industrial robots have been used.It not only liberates artificial labor from a large number of repetitive work and bad working environment,but also completes many work that can not be completed by artificial labor.The role of industrial robots in manufacturing industry has become increasingly prominent.In the foregoing context,this paper studies the application of six-degreeof-freedom robots to provide an efficient and low-cost solution for existing robot manufacturing.Innovative manufacturing mode of “design-material-manu facturing” is realized for the rapid manufacturing requirements of some small-volume complex constructions in spacecraft.The specific research includes the following aspects: research and propose a robot processing platform scheme for double-end robot processing actuator,complete the selection of the processing platform hardware,and complete the construction of the platform;the six degrees of freedom used by the platform The static analysis of the robot KR30,the analysis of the robot's singular pose,the Newton-Eulerian method is used to solve the dynamic equation of the robot,and the dynamic simulation of the robot is carried out based on ADAMS.The motion simulation modeling of the robot is completed in the robot simulator.And collision detection;completed the homogeneous transformation of the machining trajectory in the simulation software,developed the script of the robot simul ator,added the offline programming function to the robot simulator,and can carry out the planned robot processing path.Processing,generating the robot control statement file;completing the additive processing on the built robot processing platform,an d successfully milling the workpiece with the workpiece as the blank,and verifying the feasibility of the processing platform by increasing or decreasing the material.