Structure Design And Motion Analysis Of Reconfigurable Fixture Robot

Fixture is playing more and more important role in the automobile production line.It is used more and more widely.The movable fixture is an important factor to improve the efficiency of the automobile production line.According to the actual requirements of the project combined with the content of this research group,a new 5-DOF robot reconfigurable fixture is designed and kinematics analysis is implemented on the construction of the reconfigurable fixture robot,the main work is as follows.First of all,the development status of fixture robot at home and abroad is analyzed,the the development level of traditional fixture and industrial manipulator are comprehended,the advantages of traditional fixture and industrial machinery hand are discussed.These things are the basis for the structural design of robot.According to the requirements of robot fixture work object,project requirements and conditions,in reference to the existing domestic and foreign mature robot fixture,a new type of reconfigurable fixture robot is designed.Solidworks is used to model,the parameters of the main body and the end assembly are checked.Using Workbench module of Ansys,the static analysis of the key parts of the main body and the end assembly of the reconfigurable fixture robot is carried out.Secondly,the reconfigurable fixture of the robot body kinematics modeling by D-H modeling method,the forward kinematics solution is obtained,and by using the improved genetic algorithm to solve the inverse kinematics of the robot body reconfigurable fixture non-unique,and the optimal solution.In Matlab,basing on Robotics Toolbox and combining the parameters of reconfigurable fixture robot,the three-dimensional model is established.The workspace of robot is calculated by Monte Carlo method,which provides a theoretical basis for determining the configuration of the robot and the size of each part.Finally,the advantages and disadvantages of the Cartesian space trajectory planning and joint interpolation space trajectory planning are analyzed and compared.The 3 polynomial interpolation is used to analyze the trajectory planning of the reconfigurable fixture robot.The results show that the actual movement process,and get the 3D trajectory curve of the distal end of the body joints and each joint angle in a certain period of time displacement and angular velocity curve.At the same time,the reliability and stability of the fixture robot design are verified,and it has created a good foundation for further research and design in the future.