Design And Research In Milling Robot On The Heat Exchanger Tube Head

Currently, industrial robots have been applied in welding, sparying, assembly, handing and flexible processing industries. With the development of electronic technology, control technology and robot technology, for the robot is applied to the milling processing fields caused widespread concern. Aiming at the waste of labor, low work efficiency of the problems existing in the present heat exchanger tube head in the process engineering, the main work of this paper is to design a milling robot about tube head and study its properties.In the beginning of this paper, combined with the size processing heat exchange tube and heat exchanger radius, number of degrees of freedom is obtained. In this paper, with the workspace shape as the goal, according to the characteristics of driving form, the graphic method the final mechanism type is determined. The article draws a three-dimensional model of it using Solidworks and draws a workspace of the robot. This paper proves that the robot workspace meet the actual work requirements.Secondly, the article analyzes and simulates kinematics and dynamics of the milling robot, establishes linkage coordinate system of the robot using D-H method, obtains the kinematics positive solutions and further obtains the kinematics inverse solutions and establishs Jacobian matrix. At the same time the position solutions and inverse solutions are verified by use of some software. The robot’s dynamics are analyzed by Newton-Euler method and the dynamic equations are obtained. The joint torque is calculated through the matlab programming. Using Solidworks and matlab co-simulation, results of the two methods is same.It is proved that dynamic theoretical analysis results are correct.The control system is built with the computed torque method for mathematical model. An error model of the robot is built using the perturbation function. The error model is controlled by using the control system, it proved that the system has good robustness.At last, through the modal was analyzed by software, it gets the first ten natural frequencies and natural mode of vibration. Through the optimization of the big arm and the small arm structure, the bending resistance ability of the workpiece and the joints stiffness are enhanced, thus the natural frequencies of the whole machine is improved. Through the analysis of three typical posture, the author lists the first ten natural frequencies of the whole machine and calculates the inherent frequency range.