Design And Research Of A New Industrial Robot

With the rapid development of industry in the direction of automation and diversification, industrial robots have been used more and more widely. As a complex of kinds of advanced technologies, industrial robots become the important standard to measure a country's manufacturing industry and technology level. However, even the industrial robots have been greatly developed today, when work environment or the desired application is different, such as not all industrial process links require large robots to transport heavy loads in the practice application, more and more times, lightweight and agile industrial robots are used to undertake assembly and transportation, lightweight industrial robots will become a better choice for daily work. It is imperative to design and research a new modular design robot, which has a large load/weight ratio, to adapt the modern and diverse requirement of the industrial development. The main contents are as follows:Using the concept of modular design and aiming at improving the industrial robot's load/weight ratio, the author design and research a new type of robot after investigating the domestic and foreign industrial robot's development status and market demand. The design parameters of the robot require the heaviest load no more than 10 kg while its own weight is less than 45 kg. The robot's load/weight ratio is larger than 1/4.5. For same load, the new robot's weight is only about one quarter of the others. And each joint of the robot gives room for cable, so the cable can pass through the interior of the robot. What's more, the robot's joint shells and arms are made of aluminum alloy, so its protective properties are greatly improved. The modular joints are driven by AC servo motor of IP65 rating and transmitted by disc harmonic reducer. The robot's module joints are connected in series and can rotate +/-360 degrees, which gives the robot larger working space and more flexible operability.After the robot is designed and manufactured, the author has built the kinematics model and the error model of the new robot. Then through the modeling, measurement, parameter identification and error compensation, the author has completed the simulated calibration for the robot. After the robot has been calibrated, its positioning precision is improved, then this calibrated robot can be used for larger range of field. What's more, the robot's calibration provide an important technical support for the realization of its marketization and commoditization.