The Research And Design Of The Mechanical Arm Based On The Dual Motor Drive

With the rapid development of modern industry,the degree of automation and precision is higher and higher.Industrial robots in the modern industry to improve the degree of automation and accuracy of the ability is particularly prominent.The typical industrial robots mostly use one motor to drive the movement of the joint industrial robot.But in the industrial robot system,the existence of transmission gap has a relatively large impact on the side of further improving the motion accuracy of the industrial robot.In order to reduce the influence of transmission clearance on the accuracy of the transmission system,the transmission accuracy of the motion system further enhanced.This paper presents using double motor driving structure for the foundation to reduce or even eliminate the transmission clearance,thereby improving system accuracy.Based on the dual motor as driving form of industrial mechanical arm,the main mechanical joint of industrial mechanical arm for driving structure and mechanical structure design,and to provide the SolidWorks 3D modeling environment,on the design of dual motor driven mechanical arm to establish the three dimensional simulation model.Then,using robotics the universal modeling method of D-H method,we establish the motion model of the mechanical arm.Then its error model of mechanical arm is established in the kinematic model,by MATLAB calculation program,carries on the analysis to the model error.Finally,by analyzing the relationship between the output torque of the driver motor,and give the relationship between drive motor torque and load torque.According to the existing industrial robot motion parameters and the load parameters,the reducer and driving motor of the waist joint,big arm and the small arm are selected.The main research contents of this paper are as follows:1.Design the main joint of the mechanical arm driven by double motors,and the mechanical arm is modeled by SolidWorks software,which provides convenient conditions for the following research and analysis.2.The influence factors of the traditional industrial robot arm movement accuracy analysis,and the use of the most common modeling method of the robot arm movement model.Then,the error model of the robot arm is established by its motion model,and the error model is analyzed in MATLAB.3.According to the relationship between the output torque of the motor drive dual motor drive system,clearly put forward dual motor drive system drives the output torque of the motor and load torque,according to the existing industrial robot motion parameters and the load parameters,waist joint,big arm and the small arm of reducer and driving motor are selected,for the practical engineering application of double motor driven mechanical arm play a good foundation.