The Analysis And Reasonable Arrangement Of Cartesian Robots In The Production Line Of Shells Assembly

With the development of robot technology,the application of robots gets more and more widely.Especially the Cartesian robots,because of simple structure,easy to control and high precision,they become more and more popular in the automatic assembly line.This thesis is doing research and analysis of Cartesian robots in the large-caliber artillery shells assembly line of some industrial group.Therefore,we can have a deep understand of robots' property and arrangement.Firstly,according to the actual need of assembly line,we choose the layout scheme of the Cartesian robot.Considering the deflects of its different parts,a suitable configuration comes into being.Secondly,we will analyze the property of Cartesian robots,including kinematic analysis,static analysis,accuracy distribution and trajectory planning.The D-H method is used to establish the robot coordinate system of the Cartesian robot,and verify the correctness with the aids of Robotics Toolbox.The static analysis of integral robot and key component is conducted in ANSYS/Workbench.The accuracy distribution is accomplished by the Monte Carlo method with the help of MATLAB.The optimal time path planning is based on Genetic Algorithms with the aids of MATLAB and ADAMS.Finally,the assembly process of the shells and the reasonable arrangement of multiple robots are determined by the Poly-chromatic Sets Theory.Through the analysis above and the completion of the whole assembly line,which prove that the Cartesian robot applied on the line is feasible and reasonable.