Design And Performance Analysis Of Cartesian-coordinate Transport Robot

With the important strategic layout of “Made in China 2025” and the high-tech development trend of “Industrial 4.0”,industrial robots as an important part of high-end intelligent equipment,its development and research process has referred to a new important position once again.Robot technology is an important collection of multi-disciplinary,the level of development of the robot to a certain extent,reflects the development of a country's manufacturing.In this paper,the author design and research the cartesian-coordinate robot in the automatic production line.Based on the understanding of the working mode and parameters,the author select the mechanical structure,and design the hardware and software of the control system.and finally the ANSYS Workbench and ADAMS are used to validate the results of calculation,and provide a solution for the study of cartesian-coordinate robot application system.Based on the work of the cartesian-coordinate transport robot,the anthor choose the motion structure,and according to the design parameters of the robot axis of the movement of the design options,and calculate the choice of the appropriate drive unit servo motor and reducer.According to the way of grasping and the movement characteristics of the robot,the end of the robot execution unit is selected.Finally,a three-dimensional model of cartesian-coordinate transport robot is established according to the component size.The characteristics of the control system of the automation equipment is analyzed,and the control system is chosen to meet the characteristics and working requirements of the robot.Then the author design the hardware structure of the control system,and analyze the characteristics of each structural unit.Finally,the principle of motion control is studied,and the optimal control method of this topic is the fully closed loop position control system with velocity feedforward.According to the general function of the robot,the human-computer interaction interface of the robot system is designed by using the program development software VB.In order to realize the requirements of the robot movement,the function of the artificial interface is improved,the motion program is written by combining the motion function library of the motion control card.At last,the robot program is validated and analyzed,and its structure and dynamic characteristics analysis and kinematics simulation can effectively avoid errors and improve the work efficiency.Firstly,the finite element analysis of the robot is carried out,and then the simulation of the movement process of the robot is carried out.Analyze the movement state and motion parameters of the robot during the working process and the operation of the end trajectory of the robot to verify whether the design requirements are met.