The Scheme Of The Hybrid Conveying Robot And The Virtual Prototype Simulation

In this paper, a design of hybrid robot for conveying the work pieces was proposed, its workspace was analyzed by the graphic method and a program was developed to optimize the design. FEM was used to analyze the deform and stress of the robot arms and its main structures as robot' s working and virtual prototype was built to simulate the kinematics characters under the load, by which design of robot mechanism was modified and optimized.The jobs in the paper are as follows:1. A hybrid conveying robot was proposed based on the characters of serial and parallel robot mechanism. It is not only of high stiffness and speed inherent in parallel robot mechanism but also of bigger workspace and working for several machine tools at the same time;2. Starting with the workspace of end-effectors, the moving paths for each structure was analyzed by graphic method step by step and parameters of the mechanism were optimized by the program developed by myself;3. FEM was used to calculate deform and stress of the robot arms under the load. The results were used to modify the design of the robot as reference;4. ADAMS(Automatic Dynamic Analysis of Mechanical System)was adopted to simulate the kinematics characters of the mechanism. The kinematics characters of the driven joints could be figured out by tools presentedby ADAMS, which is known as backward kinematics. The other kinematics and dynamic characters, such as velocity, acceleration, force or moment of the joints and etc. were also available simultaneously.