| The improvement of the level of industry automation make industry robots more and more widely used in manufacturing industry. The optimal mechanical structural from variety of mechanisms of industrial robot, not only can improve the stability and accuracy, but also can improve the flexibility of operation. Simulation and trajectory planning are the most important part in research. Reasonable trajectory planning is the premise of the simulation, which make robots completing scheduled task. Based on the two problems above, this paper designed a6R industrial robot loaded6Kg.Firstly, according to the job requirements and working parameters,we conduct a preliminary structure design for the industrial robot. It includes selections of the motors and reducers and selections of materials, insuring the action range meet the design requirements. Kinematics analysis and simulation were carried out on connecting rod structure, which using the Matlab Robotics Toolbox to verify the rationality of the design.Secondly, according to the path from the simulation and software, the dynamic simulation of mechanical system for the industrial robots was discussed.the calculated the dynamic parameters from the simulation. The finite element analysis and the modal analysis were carried out which using the interface of the finite element analysis software and the dynamic load spectrum exported from FEA Loads of key components (such as the big arm and the small arm). It test the rationality of the design, which also provided evidence for structure design and optimization.Finally, trajectory planning and simulation of industrial robot were carried out by using an appropriative toolbox. The trajectory planning methods were researched in the joint space and descartes space respectively. Compared with the two methods, we choose the joint space to analysis. In the end, PTP simulation was researched by using Matlab Robotics Toolbox, which control the industrial robots move along the scheduled trajectory. |
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