XYZR Welding Robot Car Structure Design And Characteristic Research

Welding robot represents a country’s industrial technology level, has a huge impact on industrial production. Welding robot is widely used in automobile industry, engineering machinery; In the engineering machinery and other large machinery, some of them are in the thick plate welding object, due to the nature of medium plate during welding is not easy to move, to mobile robot on the welding work. This article is based on some existing cartesian coordinates robotic technology and combining the task of this subject designed a XYZR welding robot, and making the teaching prototype, finally to teach prototype was tested. This paper mainly study from the following aspects:(1)The structure of the robot design and standard parts selection. According to the requirements of the project tasks and combining with the reference of existing robot structure, put forward XYZR welding robot parts and reasonable structure, and the structure parameter calculation and selection standard, the use of Pro/E 3 d design software XYZR welding robot model is set up, and optimize the robot structure design.(2)Based on D-H method XYZR welding robot kinematics equation is deduced. Using the method of D-H parameters XYZR welding robot kinematics model is established, and the theoretical derivation for the end of the actuator motion of the robot.(3)Performance analysis of robot based on virtual prototype technology. Based on virtual prototype technology, the robot 3 d model was established based on Pro/E software import dynamics analysis software ADAMS, through ADAMS software for simulation analysis for the movement of the robot study, so as to optimize the design.(4)Making teach XYZR welding robot prototype for testing. Make teaching XYZR welding robot prototype, build a hardware-in-the-loop simulation system platform, on the platform of teaching test prototype orbit.