| As a new kind of design method,virtual design can enhanced the efficiency and quality of the design. Virtual design provides parametric design, analysis and detection function, which can find defects of products in the designing phase. Through this method, the design can be modified and improved. So it can shorten design cycle, improve the design competence and offer powerful theory data for experiment and manufacturing of the products. It is significant to apply the virtual design technology in design. Through the using of ADAMS, the virtual prototyping model of Robot End Effector is built in this dissertation. Key points in the virtual prototyping, which affecting the performance of the virtual prototype, are parameterized and designed optimally. Then a large amount of repetitiveness work is spared, and the ideal design purpose is attained by the optimization of the model. In recent years, the vigorous development of the robot technology plays an important value in the society. Robot End Effector, which is installed at the end of robot, is direct contact with the work piece .According to the workpiece's shape, Robot End Effector has different structures. End Effector's designment is not the same as other clips because of Robot's characteristics of moving flexible, lighter weight, accurate positioning .It must be light weight, and has a certain ability to work.Pneumatic system is used more and more widely in industrial automation because of its unique advantages such as low cast, simpleness, high efficiency and strong resistance for pollution and so on. With the development of technology, it will be a trend that applies pneumatic system in manipulator.IRB 2400 is a 6-axis industrial robot. The robot is made up of two main parts, the manipulator and the controller. The controller, which contains the electronics used to control the manipulator and peripheral equipment, is specifically designed for robot and consequently provides optimal performance and functionality. The controller also contains the system software Base Ware OS (operating system), which includes all basic functions for operation and programming. All control and supervisory electronics, apart from serial measurement board that is located inside the manipulator, are gathered together inside the controller. I/O unit communicate with the I/O computer, located in the computer system, via the CAN bus. A number of different input and output unit can be installed in controller, including digitalinput and output unit, analog input and output unit and so on. To active the I/O unit they must be defined in the system parameters.Base Ware includes a very powerful concept of multiple coordinate systems that facilitates off-line programming. These systems include the base coordinate system, the tool coordinate system, the user coordinate system, the object coordinate system. The coordinate system can be programmed by specify numeric values or jogging the robot through a number of position. All robot positions in a robot program are stored in rectangular coordinates, related to a defined coordinate system. These coordinate systems may in turn be related to another coordinate system in a chain. This means that even if a tool is changes because it is damaged, the old program can still be used, unchanged, by making a new definition of the tool. If a work piece is moved, only the object coordinate system has to be redefined.The main works accomplished in the paper include:1,By analyzing the characteristics and classification of the End Effector and the Performance parameter of the IRB2400/10 type robot, design a appropriate structure of End Effector. According to the work condition of the robot, obtains the range of the mechanism design parameters of End Effector such as the range of the pole's length and so on.2,A virtual model of End Effector is set up with ADAMS and its validity is proved to be feasible. The key parameters are determined. The model is simulated to find out how the parameters influence the performance of End Effector. The changes of parameters are analyzed and the final values of parameters are determined through parameter optimization. The result shows that the End Effector has the minimum weight with required performance.3,End Effector's driving device uses Pneumatic technology. Based on the characteristics of the controller of IRB2400/10, selects the most appropriate Pneumatic components. The pneumatic circuit is designed.4,Through studying the structure of the controller, selects the most appropriate I/O unit, completes the definition of the parameters and the physical link. The control system is designed.5,Designs and manufactures the End Effector using the optimum parameters. The system performances are tested, which are proved that the specifications are reached and the performance is good。As a new type research method and technology measure, virtual design's application and expansion in each profession can be expected soon, therefore this dissertation also have the important theory meaning and practical values. And the paper's research has also a reference value for the application of virtual design technique in engineer field. |
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