Mechanical Analysis And Kinematic Simulation On Joints Of Robot

The robots have been widely applied to the industry, especially in electronic and automotive industry since last century. The developments of robot are in a whole new period with the directions of intelligence, miniaturization and micromation nowadays, this trend requires the technical supports not only from the domains of computer and artificial intelligent control but also the field of mechanical design for the robot structure. The dimensions of robot joint are very important diathesis to restrict its development toward miniaturization in a very long time. This paper discussed a novel type of robot joints which is an Inverse screw mechanism derive from the ball screw, with the advantages of small volume, tiny weight, high transfer efficiency and high torsion output per unit weight refer to other parts which have the same functions.This paper is under granted of the national High-Tech R&D program ( "863" scheme) No.423140, which objects are to carry mechanical analysis and kinetic simulation on two new types of robot joints to verify that whether the design scheme can satisfy the practical requirements, and erect a theoretical foundation for the joints design in modularization, universal and serialization.This paper carries the following research aspects:(1) with the help of I-DEAS, 3D solid part models have been carried out individually for all the two types of joints, then the assembly simulations were also carried out and generated the assembly models. (2) based on the assembly models, the kinetic simulations for the two joints have been finished separately and the kinetic charts of key parts also been outputted as well as the motion process animations.(3) the mechanical analysis and the load calculation for the parts are finished, then the finite element analysis for all key parts of the two joints are also completed by I-DEAS.(4)the balls kinematic rules and parameters are carried out according to the theory of kinematics .(5) the contact analysis for balls in joints are carried out according the contact theory of Hertz, in order to verify the strength and rigidity for balls working in the joints.