The Research Of Prototype Manufacturing And Dynamic Performance Of 6-DOF Welding Robot

The body structure of robot is the basis of the welding robot system. Its performance directly affects the robot’s scope of work, working stability and reliability. This paper was based on the self-developed robot as the research object, the kinematics model of the robot was established and the robot’s scope of work was verified. On the basis of the kinematic model of the robot, the error model is established, and the robot end location precision error compensation algorithm was discuss. Through the simulation, the effectiveness of the algorithm was proved.Secondly, the finite element modal analysis model of robot was built by ANSYS. The modal of the robot’s main parts were analyzed separately. The rationality of the design of the parts was discussed by the components of the vibration mode. The component modal synthesis method (CMS) was adopted to establish the finite element modal analysis model of robot assembly, and the inherent frequency and vibration model of the machine was given, and the rationality of scheme whole machine structure was discussed.The modal alignment matching of the given important of the robot and the rationality of the modal frequency distribution of the whole machine parts were discussed.Thirdly, according to the parts drawing, the parts of robot were manufactured.According to the characteristics of the welding parts and machining parts, the reality of factory production conditions,the forearm and the link of forearm as examples,the technological processes of were programmed separately.The dimensional chain for assembly was analyzed by Monte Carlo simulation, the analysis of belt wheel assembly dimension chain for assembly as an example and the rationality of parts processing precision design was checked.On the basis of assembly dimension chain analysis, in view of the assembly precision don’t meet in the process, the method to ensure assembly accuracy was put forward.The assembly precision was ensured by these methods.According to the robot’s reality, The technical requirements that must ensure in the process of debugging assembly was put forward.Finally, the vibration test platform of robot body structure was built by Dong Hua test system and the inherent frequency of robot was tested.To amend the test results compared with the results of simulation,The finite element analysis model was modified by the results of the test results compared with the results of simulation.The sensitivity of the arm structure parameters on the dynamic and static performance were researched, and the arm structure optimization, analysis of the optimized effects on the machine dynamic performance.