Dynamics Analysis And Study On Loading And Unloading Robot Of4R Multi Joint Wheel Hub Manufacture

With the gradual development of industrial automation, practical industrial robot hasbecome industrial automation equipment. Especially the industrial manipulator，as therepresentative of the multi-joint robot is rapid developing. It has occupied the dominantposition of logistics automation production line, theory and practical thoughts wereincluded in the concept of designing. It plays an irreplaceable role in gradually extendingand promoting the development of the robots in the future.Under discussing the development situation of industrial robots between domestic andoverseas, this paper focuses on the material industrial manipulator kinematics anddynamics in loading and unloading operations of the wheel hub industry. The first of all，according to the needs of actual production，and then selecting basic parameters for themanipulator of structure and the connecting. The scope of work is got by comparing theactual boundary of workspace in MATLAB. Using the coordinate transformation ofkinematics to save the problem of converting the joint coordinates in space, and finish thepreliminary trajectory planning in kinematics. And then, the difference theory trajectorydisplacements and the actual work environment is compared, to be the foundation of theactual control. The basis is theoretical derivation of dynamics. To get the dynamic modelof the manipulator, this paper derived in Lagrange method of dynamics. The parameter isset up consistent with the theoretical in the working environment in the actual simulation.The partial transmission mechanism is conformed according to the results of data. The dataprovide valuable information for optimized manipulator structure and enhance thefollow-up research work quality control.