| Robot has been the more important component of industrial inmodern times, the use of industrial robot reflect a country's level ofindustrial automation. The kinematic accuracy of robot is an importanttechnical indicators to measure the workability of robot. Therefore, thekinematic accuracy analysis of robot became very important researchsubject.The main content of this thesis is to research motion reliabilitysimulation of industrial robot. Regarding two familiar industrialPUMA560 robot and welder robot as study objects, and the contents ofthis article is the industrial robot motion reliability computing methodbased on ADAMS. Regarding ADAMS, a virtual prototyping simulationanalysis software, as the platform, and regarding VC++6.0, a calculationprogram software by Microsoft, as the tool to analysis. Analyze theinfluence to the robot by size error and clearance error under when themembers of robots have dough deformation or not.First of all, build the virtual prototype by ADAMS/View, andparameterized it. Using monte carlo method to generate a random numberwhich is followed normal distribution to Write the user-defined function.Write a reliability simulated program by ADAMS to make a cycle simulation. Write an accounting routine by VC++6.0 applied to disposethe simulation results, calculate the robot motion reliability. Analyze thechange of robot motion parameters to get the change rule of movementreliability in different time. Make a respectively analysis that theinfluence to the robot motion reliability by errors under rigid body andFlexible deformation cases. Provide a analysis method based onsimulation for complex mechanism of movement reliability. |
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