| The extensive application of industrial robots can greatly improve production efficiency and save manpower cost,and the joint based robot has received growing attention by users owing to its wider tasking area,compact construction and flexibility of movement.With the progress of CNC technology and the large-scale application of automated production lines in manufacturing industry,industrial robots cooperate with machine tools and other auxiliary mechanisms to realize the loading and unloading of workpieces,the turning of workstations,and the rapid and accurate transfer of workpieces in multi-workbenches.In this dissertation,based on the special environment of twin-cutter turning lathe production,according to the job requirements and working parameters,we conduct a preliminary structure design for the industrial robot.Kinematics analysis and simulation were carried out on connecting rod structure.Some trajectory planning methods are introduced from two space of joint space trajectory planning and cartesian space trajectory planning.A virtual prototype of manipulator is constructed based on ADAMS to study the material acquisition process.The motion process between the first three joints is simulated by using B-spline curve as trajectory planning method;Taking time optimization as the optimization objective,genetic algorithm is used to optimize the operation time of the manipulator’s feeding process.The motion process satisfies the constraints of angular velocity,angular acceleration and angular acceleration.Computer aided technology is adopted to develop which can establish machine tools and tools crib,accomplish the modeling of parts,process planning of twin-cutter turning,generation of NC code and simulation of the machining,and optimize the processing time.Finally,a robot-CNC lathe CNC machining workstation is established,and an integrated design is carried out. |
PDF Full Text Request