The Research Of Heavy Load Robot Used In Glass Production Line Based On Virtual Prototyping

The Chinese glass output is every large, even reaches 500,000,000 boxes. But the high-quality product is backward, and relies on the import massively. This actually is the result of equipment industry backwardness. Although we can import the products, the price is too expensive, and it doesn't suit for national conditions. One of them is the transport robot used in the glass production line. At present, the domestic robots used in glass production line can only grasp the glass weighted below 160kg, and until now, the heavy load robot has not appeared on the market. To realize the localization and industrialization, this article used the virtual prototyping to research it.Firstly, this article carried on the design of robot's mechanical system, including the design of drive system, transmission system and balance system, and established the three dimensional model by utilizing Pro/E software. Then the kinematics model was established by D-H method and the dynamic model was established by Newton-Euler method separately.Then the three dimensional model was imported into ADAMS, and its prototype model was established. We carried on the dynamic simulation, obtained the curve of joint drive torques of the robot which can provide the basis for the motor system selection. Using the finite element analysis software of ANSYS, the vibration analysis and static analysis to the key parts was carried on, the natural frequency, vibration mode, stress and deformation distribution were obtained. According to the analysis results, we carried on the optimization design to the robot structure.Finally, the error of robot's transmission components is analyzed. Then the transmission precision of each transmission chain was obtained, which lay a foundation for overall system's error compensation.