Research On Modular Cartesian Robot For Loading And Unloading Task

Cartesian coordinate robot has been widely used in electronic and machinery manufacturing industry, due to simple structure, easy to control, high precision and light quality. This thesis is studied cartesian coordinate robot which used on the spiral bevel gears machine tools to carrying out loading and unloading materials, and modularized every component based on initial design. It's also carry on the finite element analysis to the organism aluminium profile in all conditions to established foundation of determining the appropriate structure parameters. The main study is presented as follows:Firstly, the technical analysis is provided focusing on the aspect of working environment and ability. Then three different configurations are schemed. Considering deflects of different line drive models, at last a suitable configuration comes into being.Secondly, based on the previous design, modular design is applied for the key robot components of the line drive motion of x, y, z axis and a manipulator, which makes the product own advantage such as short design period, good performance at the aspects of economy, maintenance and exchange.Thirdly, according to the engineering analysis, weakness are picked out and improved. To meet the practical requirement, the parts of x and y axis guide rail, z axis motor and ball screw are checked. It is obvious that the design is correct.Furthermore, the force and deformation of line drive components are analyzed used the finite element analysis method at all conditions. The stress and strain of the robot structure at the worst working condition are also calculated. Otherwise the analysis of the previous design's strength and stiffness are carried out. It has established foundation of determining the appropriate structure parameters.