Research Of Precise Point-to-point Assignment Robot System

Robot as the 20th century,the most representative high-tech,since its inception, has been the concern of all countries in the world and is widely used in all walks of life.In this paper,the control point system,under the guidance of the theory in order to achieve the robot point operations for the purpose of developing a set of mobile,the more impaired function of the points in one robot,a mechanical robot body and institutions,kinematics and dynamics,drive system design and operation functions of the key technologies to achieve an in-depth to explore.First point of the mechanical robot system to carry out an analysis of body organs, body structure and mechanical design and study specific.In Pro / E three-dimensional modeling software to use technology to build a three-dimensional solid model,and model of quality,space and interference detection,the overall design to verify the correctness and reasonableness of the robot as a point of kinematics and dynamics provide accurate simulation of the virtual prototype model.At the same time,the robot carrying the key components of the finite element analysis,including static analysis and modal analysis to ensure that the structural components to meet the requirements of stiffness and strength.Then the drive system of the robot design,in order to better design of robot drive system operating in this article in accordance with the requirements of the robot,the movement of the robot trajectory planning and research robot points to achieve the operating functions.Paragraph and the use of linear mixed parabolic trajectory planning method,combined with the characteristics of the actual use of robots,analyze and calculate the parameters of the robot motion planning,trajectory planning based on the characteristics of straight-line acceleration to calculate the parameters of electric drive.In order to ensure the stability of robot operations,were walking in the realization of the robot and operating features of the absorption edge reliability analysis,and the establishment of a critical condition.At the same time in order to improve the control of robot performance,robot kinematic analysis carried out,the establishment of the robot posture vector and control the relationship between the volume.In order to achieve the precise point robot operation,the paper point control system for several forms of control are analyzed,and then propose a suitable operating characteristics to achieve the precise point of its forms of control operations closed-loop control.In order to verify the superiority of the system,and finally reverse the resonance phenomenon for the impact on system modeling and simulation analysis.The use of simulation software ADAMS point robot system kinematics and dynamics simulation,through the campaign to determine the limited space within the mutual interference;by setting the requested motion parameters,analyze the point of robot system dynamics performance,provided the necessary kinetic parameters.Stress components based on the results of the analysis of the dynamics,it is reasonable to choose drive motor,bearings and other critical components.