Design And Analysis Of A Robot For Capturing The Irregular Object

This article was based on the actual project “XXX development and experimental research”, the main purpose was to design an industrial robot which could realize capture and carry an irregular object. The capturing plan was proposed to the characteristic of target which was not easy to grab and tear down and of which the material was a little special. The analysis was studied about the designed industrial robot, which include basic research and simulation analysis on kinematic, statics, dynamics and the reliability of key components. The main contents were as follows:The structure design of industrial robot for capturing the irregular object was presented. First of all, the main structure form and the way to work were confirmed on the base of the characteristic of target and the requirement of basic function. Then the design requirements were proposed for bedplate, waist, arm, wrist and paw to complete the design task. Finally, the way to drive and material properties were programmed.The link coordinate system was created by the D-H method and the transformation matrixes of the robot link were described. The solutions of kinematics and inverse kinematics were gotten using theory algorithm and algebraic method. The equations were verified by the Robotics Toolbox in MATLAB, and then motion trail was programed.The mechanics of the industrial robot were analyzed, including the equations of statics and dynamics. In consideration of gravity, the driving force and torque were solved by use of MATLAB numerical method. The virtual prototype of Adams was built to verify the correctness of the equations.The static analysis was carried out for the overall structure of the robot by ANSYS software. The key connection parts, such as paw, were verified by theory. Finally the modal analyses for the overall structures are completed and the vibration form of low frequency was studied, which offered a good transition from theory design to practical application.