Development Of Industrial Robot-based Production Line For Round-link Chain And Robot Trajectory Planning And Simulation

Round-link chain is an indispensable transmission part of the major equipment for mechanized production in coal mines,such as scraper conveyors,plows,drum shearers,and scraper repositories.There are some problems,such as underdeveloped technology.low automation,poor processing stability,and adverse working conditions,with the existing round-link chain manufacturing facilities at home,which unveils the fact that a wide gap still remains between the domestic chain-making equipment and the advanced ones abroad.Therefore,an imperative improvement in the production mode of present round-link chain production line and its automation should be made as soon as possible.This thesis,based on the scientific and technological key project of "The Research and Development of Automatic Production Line for Large-sized and High-strength Round-link Chain" in Danyang,has introduced the industrial machine into the production line and pictured a fully automatic round-link chain production line integrated with industrial robots,warmers,wielding machines,chain machines,and de-burring machines.First,concerning the low automation and poor processing stability of present round-link chain production line,the author has conducted an elaborate analysis to the round-link chain and its processing technic and manufacturing facilities.Under the guidance of design requirements for the automatic round-link chain production line,the author has developed the industrial robot-based round-link chain production line applied with three IRB-6620 industrial robots from ABB Group by redesigning warmers,wielding machines,chain machines,and de-burring machines,rearranging the round-link chain production line and re-planning the work procedures of production line with the consideration of the utility rate of workshop,working conditions and the transferring of round-link chain during processing.Second,based on industrial robot-based round-link chain production line,the author has set up the coordinate system of the manipulator joints of IRB-6620 industrial robots through D-H parametric method and figured out the D-H parameter list.And he has established the kinematical equation of the industrial robots and analyzed its inverse and forward solution.The trajectory of those three IRB-6620 industrial robots in round-link chain production line has been planned in MATLAB Robotics Toolbox,and variable data of each manipulator joint of every robots has been made clear.Third,the author has built up the virtual prototype of industrial robots in ADAMS and conducted the simulation experiment to robots by using each manipulator joint's variable data to drive the moment of force in the way of spline functions,which has concluded the trajectories of each robot and indicated the correctness and validity of the planning trajectory.In addition,he has integrated MATLAB with ADAMS through ADAMS/Controls Module,and interactive simulation experiment had been undertaken to the robot No.2.The simulation experiment has tested the system performance of robots and laid the foundation for the birth of physical prototype.