| Gear finishing is the procedure in which NC working punching machine is used to decoct the gear rag etc, which needs that the gears must be placed at appoint position of the punching worktable and positioning accuracy is high. To realize the production automation, boost productivity and reduce the accident caused by tiredness, a gear finishing robot is designed to replace workers to complete the gear placing and guarantee the positioning accuracy.Firstly, according to the work field, the overall planning of the robot is designed based on robot analysis. Completion of the overall design of the four-degree of freedom joint robot.Then, D-H method is used to get the kinematic modeling. Based on the con-rod coordinate system sketch, the homogeneous coordinate transformation is used to solve the positive problem and inverse problem of robot kinematics. The dubiety between each moving elements and the hand of the robot in the space is studied, which lays a foundation to the trace programming and simulation later. According to the kinematic modeling, the trace programming is conducted using the robot tool-box, which make the kinematic path smooth and the step of position, velocity and acceleration is avoided. The reasonableness of the trace programming is validated based on ADAMS and the simulation curve of end-effector’s velocity acceleration and robot dynamics is got based on the trace programmed, which lays a foundation to the motion controlled and the choice of joint driving motorAt last, to make the robot move as programmed, the robust neural network algorithm is designed to e study the trace tracking based on the non-linearity and strong coupling of the robot.the validity of algorithm is validated by simulation experiment. The software and hard ware electro circuit using DSP as centre controller is designed combining the knowledge of control circuit. |
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