Virtual Design On Mechanical Systems Of Low-load Industrial Robot

According to the needs of precision equipment in process of industrial production, using virtual prototyping technology, by means of computer-aided design and analysis software, a low-load industrial robot is designed and analysed for arc welding, painting, loading and unloading, called NXD-10industrial robot. It is an open chain6DOF articulated industrial robot.First, according to the requirements of the actual working conditions, by means of SOLIDWORKS software to draw all parts of the the NXD₁0industrial robots, and assembled into a virtual prototype. Next made a preliminary selection and verification of the servo motor and reducer, which are needed by six joints of NXD₁0’s drive systemAnd using ANSYS to check the stiffness and strength of major parts, such as the arm and the forearm.On this basis, use of D-H method, lists the six-link parameters of NXD-10industrial robots and established the kinematic equations. Then Used MATLAB, establish the3-D model of NXD-10links, finded the direct kinematics, inverse solution and the Jacobian matrix, and verify the accuracy of the kinematic equations.For check the Operability, drawing the simplified model of NXD-10mechanical systems, assembly into the virtual machine, then pour through COSMOSMOTION to ADAMS; add the joint forms of exercise, the driving force in the form, enter the function of each links and simulation. The measured displacement, velocity and acceleration curves were loaded into the same coordinate system, the result is displacement, velocity and acceleration curves of the robot reference point.Finally, on the basis of on the structure of static checking, the maximum stiffness of the mechanical structure for the optimization target, structural components of the NXD₁0industrial robot has been optimized, and then repeat the rigidity checking, compared to the shape of variable sizethe results show that NXD₁0industrial robot mechanical structure is reasonable, and mechanical properties can basically meet the design requirements.