The Design And Kinematics Analysis Of Electrolytic Copper Robot

In recent years, with the rapid development of computer technology and roboticresearch, many uses of robots are widely applied in various fields. This paper design andanalysis of robot used in the electrolytic copper industry, combined on the developmentand research of robot at home and abroad, with the base of comprehensive introduction tothe copper electrolytic production process. The practice use prove that the robot used incopper electrochemical machining automatic production line can improve the automaticlevel and reduce worker’s labor intensity rapidly. This method has wide applicationprospect, which has important practical significance for improving traditional copperelectrolytic copper level.This work is carried out around the design and analysis of the electrolytic copperrobot.First of all, according to the work requirements of the copper electrolytic machiningproduction line, determine the basic technical parameters of the robot, and to provide abasis for the structural design of the robot. The overall scheme of the robot and workflowbased on the reference robot design, the electrolytic copper robot is four-degree offreedom joint robot, and all joints are used to rotate the joint, determined by servo motorsand harmonic reducer transmission scheme. Use UG software to design the detailedstructural, has carried on the three-dimensional modeling, assembly.Secondly, build the mathematical model of electrolytic copper robot with the D-Hmethod, derived kinematic equations of the robot by homogeneous transformation matrix.Solve the inverse solution of kinematics, which reasonable parameters of joints.Obtain robot kinematics simulation with the application of UG and ADAMSsoftware to inverse solution of this robot, and Acquisition of joint movement parametercurve by outputting data in the post-processing module, the simulation results show thatthe robot structure design is reasonable and meet the requirements of design features，thecorrectness of the theory is validated.。Show that the electrolytic copper robot kinematicssimulation is correct which using ADAMS software.At last, utilize the HyperWorks to check the stiffness and strength of major parts,such as the arm and the forearm. The purpose is to test the intensity and the rigidity of robot satisfies the structure. In order to avoid manipulator’s various organizations in thepromotion, the movement process has resonating or appears in spires harmfully, hascarried on the modality analysis to the manipulator overall construction, has obtained themanipulator structure natural frequency resonance oscillation.