| With the development of modern science and technology,industrial robots has been widely used in the manufacturing.Hydraulic industrial robot with a smooth transmission,low weight,small size,wide speed range and load capacity advantages,becomes more and more attractive.Based on the virtual prototype technology and hydraulic technology,a 6-DOF hydraulic industrial robot is designed,and can be carried out spraying,handling,welding works.Firstly,after the overall mechanical system scheme of 6-DOF hydraulic industrial is determined,key components of the robot is designed using Creo3.0 software,to establish the virtual prototype model of the robot,and the strength and stiffness of key components are analyzed using Ansys Workbench software to ensure the robot good mechanical properties.Because 6-DOF hydraulic industrial robot is driven by hydraulic motors,the movements of the robot arms are affected the flow parameters of the hydraulic system.Combining the kinematics equation of the common industrial robot with the the flow equation of the hydraulic motor,the kinematics equation of 6-DOF hydraulic industrial robot is derived based on the relationship between the flow parameters of the hydraulic system and the joint variables.After the dynamics equation of the robot is built using Newton-Euler principle,and the t kinematics and dynamics simulation analysis of the robot using ADAMS software are carried out,to attain the movement speed of the robot arm and the driving torque of the robot joint.After the work flow,pressure parameters and hydraulic components of the hydraulic driving system are calculated,the complete hydraulic driving system design of the robot is finished. |
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