Structural Design And Research Of Heavy Load Handling Robot

Recently, the industrial level of china has arised so rapidly, the requirement of Auotomative equipements especially the Industrial Robots has also greatly enlarged. This dissertation studied the structure and performance of the6dof heavy load handing robot which is widely used in the manufacturing enterprises. This paper mainly inculdes the following works and achivenments:The main structural parameters of the robot were designed by a simple and universal method which is widely used in engineering design, the link arm is sidely located between the arm and the rotating column, in order to enlarge the work space. Design the robot’s wrist mechanical structure, use the compact structure to reduce the mass of the whole wrist and improve the flexibility. Locate the arm and wrist’s drive devices and analysize the driving method of the wrist. Combined with the parameters of other industrial robots, the parameters of the heavy handling robot is defined.Use matrix transformations and D-H method,the kinematics model is built,the forward and the inverse kinematics has been solved. Use the Robotics Toolbox to simulate the kinematics of the robot and obtain the relation of the link changes and the end effecter position and orientation. Use Matlab programming and Monte Carlo method, analyzing workspace of the handling robot. Through the simulation to judge whether the workspace has the cavities or not, which can provide the reference to obtain the appropriate operating region of robot.Based on the theory of graph representation, the canonical graph representation of the ortho-axis RBR spherical wrist is setup, and links of the wrist are divided into carriers and carried links. At the same time, an efficient and systematic dynamic equation of the wrist is developed by using Lagrange Equation. Based on the static force analysis, obtains the largest torque of every joint when the robot is rested at the most dangerous position. The servo motors and the reducers are chose by the analysis of the torque. Desgin the body balancing method, the arm and wrist balance by themselves and the spring bracke chamber is used to counterbalance the link arm.Aim at the structure optimal design of manipulator, the link arm which bears great burden is selected. The static finite element analysis is performed, the distributing nephogram of stress and deformation is attained. The local rigidities of the robot are evaluated according to deformation results. Use COSMOSMotion to simulate the movement of the3D model of the roobt. Kinematics simulation of the robot has been carried on and obtained the video of robot when6joints moves orderly.Dynaimc simulation of the robot is obtained the force and torque curve of the link arm which is moved to the positon for the biggest torque value. Finally, the control system of the handling robot is builded up, using the IPC+PMAC control model to control the robot’s motion.