Design On The Stamping Robot Body And Research On Robot Autonomous Design And Development

Industrial robot has a wide range of applications and rapid development as it is atypical electromechanical integration equipment and it can satisfy the requirement offlexible automatic production. Stamping robot is a kind of special industrial robot instamping area, it has become the effective measures and main methods to improve laborproductivity and working conditions.Based on the research of Yanshan University research group for the National Scienceand Technology Major Projects“the large servo presse stamping line automated loadingand unloading technology”mission requirements, to study with big load and high stability,strong adaptability of robot body design technology for the press line of flexible, efficientand safe production requirements, this dissertation got the basis of important parameters,and a 6 DOF feeding robot body is designed. The research content as follows:(1)The main technical parameters are determined and the structure scheme of thefeeding robot is introduced firstly according to the press line requirements. And theindustrial robot dimension parameter model is built based on the human arm dimensionmeasurement standard data and the theory of three moving links, which provides a basisfor the robot dimension parameters.(2)The feeding robot kinematics analysis is finished. And the feeding robot trajectoryplanning is discussed using the kinematic equation, and the feeding action is simulatedusing ADAMS software, the the results are verified.(3)The feeding robot mechanical body design is completed based on analysis of thestatics, and the feeding robot dynamics is established. Based on the high speed, the heavyproduction requirements, put forward the joint driving force index and dynamicperformance index for the excellent performance of the robot design, which add theoriginal robot dynamic performance evaluation index system effectively.(4)A industrial robot autonomous development program package design conception ispresented, which can meet the development of industrial robots autonomous designrequirements. The structure module base is built, and the software can assemble the robot model and calculate automatically, which achieves fast and efficient robot body design.