Research On System Of Heavy Load Welding Robot In Modeling And Simulation

With respect to the light load robot, because of the ratio of load and dead weight increased, the body structure design and realization of high-speed dynamic performance is more difficult, the basic requirements for the heavy load robot is repeated, fast running speed, high load capacity, high reliability and versatility, easy operation, and high flexibility, suitable for the production.In this paper, the research object is a 165 kg heavy-duty welding robot, by using the method of D-H, established the overloading connecting rod coordinate robot,kinematics solution of the robot is derived. Based on the analysis of heavy load robot statics and dynamics theory, analying the force of big arm and small arm and calculating the maximum movement of each joint axis.Using robotics toolbox and Matlab programming to realize the visual simulation of robot kinematics, directly reflects the relationship between the robot joint variables and end pose matrix, and verify the correctness of the front scheme. The 3D assembly model of heavy load robot is established with Solidworks, on the assembly model, adding drive motors for various joints with Motion plug-in, letting its movement move in the largest motion of each joint range, more directly reflect the heavy load robot movement process, outputting the angular velocity and angular acceleration of the terminal position.According to the motor, mechanical structure and the choice of the heavy load robot transmission system of the reducer model of joint stiffness calculation,calculate the stiffness value of each joint of the theory.