| Robotics is the integration of electronic technology, mechanical technology and other emerging technologies as a high-tech.With the development of advanced manufacturing technology to achieve welding automation of manufacturing, flexible and intelligent has become an inevitable trend, using robotic welding has become a major symbol of welding automation.The main research works are as follows:(1) According to spot welding robot specifications,determined the structure of the robot body.Spot welding robot designed high precision and high rigidity transmission.Used SolidWorks established three-dimensional model of the robot. Designed and analyzed the robot balance system.Critical bearing on the robot parts were simplified and analyzed.Established a critical bearing components of finite element analysis model,select the most dangerous stress state as the analysis condition for the various components of the static analysis, obtained various parts’stress and displacement distribution, find the maximum deformation of each component.(2) Established the robot coordinate system with DH method, based on which, solved the kinematics and inverse solution.(3) Statics and dynamics of the robot were analyzed, Use Newton-Euler recursive method established the dynamic equation of the robot.Computer program written using MATLAB, which is laid a good basis for dynamic simulation.(4) Using Robotic Toolbox and Matlab programming acquired each joint driving torque curve during the robot motion, a reasonable choice for the drive motor, reducer and other key components, and real-time control of robot provides a basis. |
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