The Design And Analysis Of The Loading/Unloading Robot For The Stamping Line

With the rapid development of modern machinery industry, high-speed, automation,flexibility are trend development of stamping production line. A new hybrid robot with6-DOF is introduced, which can be used in stamping line. The robot is composed of planar2-DOF five-bar mechanism and four rotational joints, which have the common advantageof the parallel and series mechanism. Studies in the dissertation provide basis for thedesign and application of the robot.According to the robot workspace requirement, the dissertation preliminarydetermined the configuration of the robot and part structure parameters. Forward andinverse kinematics equation of the6-DOF hybrid robot are found, which provide thefoundation for the kinematics analysis of the robot. Under the situation of satisfying itsconditions of structural constraint, the workspace of the robot is plotted. The effect of themain structural parameters of the robot to the volume of the workspace is analyzed, thusmechanism parameters of the robot is determined reasonably.The Jacobian matrix of the robot is established and the dexterity of the robot isanalyzed. Statics and dynamics of the robot are analyzed, then the corresponding staticsand dynamics equation are built. Considering the coordination of movements between therobot and press, the trajectory planning of loading and unloading robot is finished.3Dmodel of the robot is established by software SolidWorks, kinematics and dynamicssimulation are done with ADAMS. The results of simulation show the trajectory planningis of high feasibility and the robot possesses better kinematic characteristics and bearingcapacity, and can be applied to the stamping line.