Design And Research On Assemble-calibrating Robot For The Optical Modules In Complex Condition

In some cases, precise optics are required to install to main device in later side, however, those modules are various in size, structure as well as height, furthermore ,a category of module is situated in a fixed site, and the space for optic installation is narrow and complicated, however, the gesture is needed to be adjustable in the process of optic installation as well as the installation precision is quite high, and the quantity of installation and unloading is frequent and the task in the process is rigorous. In this paper, a operation robot with 7 degrees is designed to meet the requirements that installation is conduct in later side and efficiency is high as well as the installation precision is kept in a certain level .Firstly, research status home and abroad for robot is introduced in the beginning of this paper, and this operation target, environment and process are also dissertated and analyzed in details, then based on those theory and requirements, the technical indexes and function are brought forward. Then the general scheme is ascertained through the comparison between the robot arm and wrist structures and then connection rod sizes and scope of joints are defined. Moreover, the detail structures of this robot are designed by means of analysis of various division modes and liner moving structures.Secondly, the robot kinetics is introduced in brief in mathematical theory, and dynamic models are established by means of D-H method. Subsequently, kinematic positive solution and inverse solution are calculated theoretically and jacobian matrix is induced by vector product.Thirdly, kinematic simulation is conducted f or the most important part of switching module in the process of loading and unloading situation with the method of virtual prototype by COMOSMotion. So the centroid trajectory, velocity, acceleration, displacement curve, driven toss in each joint, force and reaction force can be gained can be gained. Those parameters play an important role for design verification and subsequent strain and stress analysis of lateral transportation structures.Eventually, the results gained from the virtual simulation is introduced to comos works for finite element simulation and then the strain curves of the connection rids in the process of assembling and calibration. Besides, the nephograms of strain and stress can be gained in the process of the strongest strain analysis for each key part and improvement suggestions are also brought out aiming at the situation of stain concentration and overweight. Furthermore, calculation check is conducted for the part of guides and joint bearings which bear quite Strong force in operation.