Design And Research On The Side Loading Assemble-calibrating Robot In Complex Condition

In an engineering construction, large numbers of clean precision optical modules are required to be installed to the main device from the side. However, those modules are various in size,structure as well as weight. Each module has its unique installation site. The installation space is complex and narrow. the gesture is needed to be adjustable in the installation process as well as the installation precision is quite high the installation tasks are frequent and severe. In this paper, a redundant assemble-calibrating robot with 8 degrees is designed to meet the requirements that all the optical module can be fixed in place from the side with a certain precision and work efficiencyAt first, the paper introduces the development status and kinematics status of at home and abroad of redundant robot. And the working environment, operation objects and processes are also presented and analyzed in detail.Based on those theory and requirements, the technical indexes and function are brought forward.Combined with the actual situation of the loading operations and the Integrated configuration of redundant robot, the overall mechanism of assemble-calibrating robot, the size of the connecting rod, the motion range of the joint and the driving scheme are determined Subsequently, the mathematical theory of robot kinematics analysis is briefly introduced. The kinematics model of the robot is established by D-H method, then the forward kinematic solution are derived. In order to solve the difficulty of inverse kinematics of eight degrees redundant robot,a“virtual robot of six degree of freedom”is rebuild with“bleaching joint variable method”.Then the inverse kinematics solution of virtual robot were established based on analytical method.According to this,the paper get the optimization results of inverse kinematics solutione of robot using“occupying the minimum space” as the optimization principle and the Levenberg Marquardt algorithm of 1stOpt software. And with the Toolbox Robotics toolbox of MATLAB software, the forward and inverse kinematics solution were verified by numerical simulation, and the correctness were determined. Afterwards,according to the conclusion of the forward kinematics and the corresponding relationship between the joint variable and the working space,Monte Carlo method is used to simulate the working space of the assemble-calibrating robot with the aid of Matlab software.Finally,static analysis were carried out on two working conditions of the assemble-calibrating robot by ANSYS Workbench, and the maximum deformation and stress values were obtained.The results showed that the deformation and strength of the machine were satisfied.Then the modal analysis were carried out on the robot, the natural frequency and mode shape of the mechanism are determined, which provides a basis for avoiding the resonan.