| Industrial robots have been widely used in automatic production line, which greatly improves the production efficiency. As a kind of complex electromechanical products, industrial robots have many kinds of operations, and the relevant performance indexes are also different. In the process of structural design, kinematics, dynamics and static analysis of the complex electromechanical products such as industrial robots, there is no professional digital design platform. Therefore, the research on some key technologies of the design and realization of industrial robot design platform is carried on and relevant function modules is developed in this paper, which has important significance for improving the efficiency of designing industrial robots.Firstly, Kinematic mathematical model of 6 DOF industrial robot based on the D-H method is built. The positive kinematics solution of the robot is derived by the homogeneous transformation matrix, and the analytical solution of inverse kinematics equation is obtained by using the method of separation of variables. In the case of multi group inverse solution, the inverse kinematics solution is divided into groups and the joint configuration number is introduced, which can improve the computational efficiency of inverse kinematics solution.Secondly, the model base of the industrial robot platform is established. Based on the parametric modeling technology, the 3D CAD fast modeling of several industrial robots is realized in SINOVATION, and the 3D model database of the robot is built on the platform. Multi rigid body dynamics modeling principle based on Modelica language is studied in detail, and the multi-body dynamics models of series robot, parallel robot and palletizing robot are established based on the language. All of these have laid the foundation for the fast modeling module and the dynamic simulation module of the industrial robot platform.Finally, the integration method of SINOVATION/Modelica model based on parameter mapping is proposed. The information composition of the CAD model and multi-body dynamics model based on Modelica language is analyzed and the information extraction technology of the two kinds of models is studied. The integration of SINOVATION and Modelica is realized by the parameter mapping technology of SINOVATION and Modelica model, which provides the basis for the dynamic analysis of the robot and the subsequent design process such as the selection of the motor.Fourthly, the corresponding modules are developed by C++ language, and the related functions of the industrial robot design platform are realized. The feasibility and practicability of the platform correlation function are verified by the example of serial robot. |
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