| The subject comes from industrial-academic-research cooperation.According to the market situation and the demand of the automatic production line,the cooperative enterprise independently developed a JT-1 type industrial robot,and developed an industrial prototype.According to the project requirements of the enterprise,the technical parameters of the JT-1 type industrial robot are set up,was involved in the design and development of the JT-1 type industrial robot,the method and process of the research and development of industrial robot are summarized;The D-H coordinate system of JT-1 type industrial robot was established,The kinematics equation of JT-1 type industrial robot was obtained by theoretical calculation,positive solutions of JT-1 type industrial robot kinematics equation was gotten by the theoretical solution,inverse solution and Jacobian,and validated by calculation,the finite element software ANSYS is used to analyze the static and theoretical analysis of the manipulator and the assembly structure of the JT-1 type industrial robot in the dangerous position,the static stiffness of JT-1type industrial robot was analyzed theoretically,The static stiffness of a JT-1 type industrial robot under various position and pose was tested,The relationship between the static stiffness of the JT-1 type industrial robot and the change of arm elongation was obtained,The topology optimization of the boom structure was obtained,compared and analyzed the performance of schemes that before and after optimization.The simulation model of JT-1 type industrial robot was established by the Matlab Robotics toolbox,The kinematics and dynamics of the JT-1 type industrial robot are simulated by the method of united Matlab Robotics and Solidworks motion,the trajectory? the movement speed of the JT-1 type industrial robot,and torque of each joint were obtained by the simulation,the mode of the JT-1 type industrial robot was analyzed theoretical way,and the vibration frequency and vibration mode were obtained based on the finite element analysis software ANSYS,the experimental modal case was confirmed according to the results of theoretical analysis,the two special pose modes of JT-1 type industrial robot were tested,the natural frequencies and modes of the JT-1 type industrial robot are obtained,The results obtained by finite element method and experimental method were compared and analyzed,which can be used as guidance for avoiding resonance in the application of industrial robots. |
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