Research On Key Technology Of The Stucture Of Robot With Six DOF

This paper introduced the constitution and specific design of robot with six DOF and researched the position control system of single joint of robot.The paper introduced the development survey of robot for maintenance and inspection of steam generators and expounded the project that the robot is installed in the tubesheet of SG by pushing machinery and hydraulic machinery based on circumstances and contents of working and demand of robot. The working space of robot and maximum torque every joint of robot are obtained by calculation and the course of robot installing is arranged.The kinematic model of the robot with six DOF is analysed and established and the forward and inverse kinematic equation are obtained . The Jacobian matrix is deducted based on this mode. Because the position and orientation errors of the robot end-effector are caused by a number of factors such as tolerance in manufacturing and assembly, mechanical transfer errors and so on, this paper analysed the errors of robot by differential method.The paper introduced the structure design of joint in particular, adopts the structure type of combination of harmonic reducer and DC torque motor , and the joint comprises two resolvers which measure the angles of motor and joint. For this reason, dimension of this type of joint is small and the torque of joint increases apparently.The paper researched the position control system of single joint of robot. The hardware of system adopts modular structure and its flat is person computer. The system controls the motion of joint by Turbo PMAC. The drive part of this system adopts the DC driver. The system adopts the optical encoder as the feedback of velocity and position.