6R/300Cutting Robot Structure Design And Kinematics Simulation

Industrial robot is typical electromechanical integration equipment, which is widly used in the fields such as grinding,welding,spray painting,transportation,assembling and so on. However, it is rarely used for cutting field. Its application to cutting field is a new research branch in recent years. In this paper6R300cutting robot which posseses flexibiligy like robot rigidity and accuracy like cutting tools, is designed to be used for forming parts. Then motion simulation is carried out by virtual reality technology on this cutting robot.The main contents of this paper are listed as follows:(1) Through analysis of industrial robot's research status at home and abroad, the technology integrating robot technology and traditional machine process technology is put forward creatively to change traditional single machining type.Based on the requriements of working environment and mission, preliminary determine geneal structure scheme of6R300cutting robot.(2) According to adopted transmission scheme, design the general mechanical structure and components'mechanical strcture separately.Choose and calculate driving source, transmission parts and executive components, to meet machining requriments of this cutting robot.(3) Each bar of6R300cutting robot is calculated by using analytical method. Then reasonable dimension is selected to make sure interference will not occur between bars, and to meet machining accuracy.(4) Kinematics analysis of this cutting robot is conducted by D-H algorithm. Caculate the homogeneous transform matrix for connecting rods, establish cutting robot's kinematic model, and deduce its kinematics equation. Then, according to this equation, forward and inverse solution analysis is conducted on this cutting robot to obtain appropriate joints' parameters.(5)3D solid model for6R300cutting robot is created by UG. Then this model is impoted into ADAMS to be optimized.(6) Kinematics simulation for6R300cutting robot is carried out by using ADAMS. By means of ADAMS's powerful measurement and analysis capacity, forward and inverse solution analysis is conducted on this cutting robot. Then export data through the post-processing module and collect each joint's motion parameters' curves. The conclusion show that end exectors display good trajectory tracking ability,each joint moves smoothly and forward and inverse solution is very well, which verifies the correctess of kinematics simulation for6R300cutting robot by ADAMS, and provides the reference for cutting robot prototype physical design.