Study On The Mechanical System Of Four-Degree Freedom Robot

The four degrees of freedom robot make the eddy current nondestructive testing tube positioned,it is the device that identify various defect and hidden trouble of the metal material through controlling the position of testing probe.The machine system is an industry robot that has four freedoms degree and the function is taking the guided tube to be positioned and support it while the testing probe is drawing. The characteristics are high accuracy,quick speed,big torque,long service life,high credibility etc.Besides,it should be simple structure,light quantity and it can be convenient to remove and pack.Through the real-time control of computer it can positioned quickly and accurately.The paper carry on the overall design of the machine system of the four degrees of freedom eddy current nondestructive testing robot,and design and study of mechanical construction of the system in detail. With triaxiality modeling technique establish the triaxiality physical model in Pro/E. Check model's mass, clearance, intervene to validate the design of overall project is accurate and reasonable. And provide a valid virtual prototype model for kinematics and dynamics simulation. Meanwhile analyse the pivotal parts which bear great burden whit finite element method, contains statics analysis and model analysis, insure the rigidity and strength of the robot structure is adequate. Apply the method of matrix analysis to build up mathematic model of the machine system of the robot, and deduce the kinematics equations of the four-degree-freedom machine system.Carry on kinematics and dynamics simulation in ADAMS,and through the movement of the machine to judge Interfere circumstance mutually in limited space;through setting the sport parameter analyze the influence of the dynamics performance to the robot system, provide the necessary dynamics parameter through the analysis. According to the dynamics analysis result of forced parts,choose reasonably the key parts of motors,bearings etc.