Structure Design And Error Calibrate Of Disassembling And Assembling Robot For Continuous Production Line

Nowadays,in order to achieve the automation of the industrial production,the demand of robots is increasing.Based on automatic production line of welding workpiece,special disassembly and assembly robot is designed to complete dismounting action for meet the fixed production line.According to the operation requirements of automatic production line and the configuration of workpiece,planning the path of the robot,completing the structure type and drive modes of each joint for the robot.Then,the primary selection and calculation of each joint motor is completing and the 3D model of robot is drawing.Its own structural characteristics is analyzed,the forward kinematics equation of the robot is solved by modified D-H method,it is proved proper by MATLAB.The conventional method can not solve the problem of the specific structure,the mathematical model is established to solve inverse solution on the base of Particle Swarm Optimization and verify its correctness.The dynamic parameters of the robot is researching,the moving trail of a cycle is designing,adding driving function is order to simulate the movement process and caculate torque speed curve.Then,Newton Euler method is adopted to calculate the joint driving torque equation,its theoretical value is calculated and compared with the maximum simulated value,the rationality of motor selection is verified.The related design of robot is analysed,parts is producing and assembling,the robot prototype is completed.The error source of the robot is analyzed,and the error of the connecting rod parameters and the zero error of the joint angle are analyzed,accuracy is improved.Based on the study of the structure and various aspects of the robot,a fast,flexible and compact light load disassembling robot prototype is designed.The geometric error parameters is performing analysis process simulation.It can effectively improve the accuracy of the robot and solve the disassembling and assembling of the workpiece in the Automatic production line,and achive the needs of automation transformation.