Structure Design And Analysis Of Small Scale Robots

With the development of society,people's standards for living have been raised,and the cost of employing for manufacturing industry has also been increased.In order to reduce the cost of choose and employ persons,the industrial production in China has been more used in robot products,however,the requirement of robot products has become more and more personalized,miniaturized.And it has also been increased that the production of small scale robot sharply.Because most of the production lines in our country are heavy robots from foreign companies,the development of light and small scale robots is still in the initial stage.Because of the high cost of large robots,some of the electronics industry's production lines are still artificial.Therefore,a low-cost and lightweight small scale robot has been created in this paper which can be used as an alternative to the efficient use of small objects such as electronics.The main contents of the research is below:Based on the requirements of the ceramic electronic components production line,according to the design indexes,principles and methods of the robot,and the advantages and disadvantages of the existing parallel quadrangle robot and serial joint robot structure,the structure of the existing small mobile robot and the traditional large robot is compared,and the small series industrial robot is carried out.The whole structure is designed,and three-dimensional solid modeling is completed by Solidworks.According to the geometric parameters of the designed robot model,the parameter table of the robot's D-H(a general description method of robot in Denavit and Hartenberg)is created,and the kinematics equation of the robot is established,and its kinematics is studied and analyzed.Then the MATLAB has been used to realize the robot kinematics simulation,a Monte Carlo method for calculating probability has been used to obtain cloud image and slice image of robotic end effector in finite scope which can determine the scope of the operating space of the robot.Furthermore,the geometrical parameters of the whole structure of the robot's initial model are optimized,which also lays a foundation for the trajectory planning at the end of the robot.A mathematical model for the dynamics of a small scale robot was created using Lagrange's functional balance method.The simulation of small scale robot dynamics,the curves of angular velocity are completed by ADAMS software,angular acceleration and torque in each joint motion are obtained.It lays the foundation for the improvement of robot structure and the selection of driving motor.The four limit pose(position and posture)of a robot in motion are determined by the way the robot works.Then,based on ANSYS,the finite element simulation of the static analysis of the whole structure of the four limit positions is designed.To determine whether all the components in the robot's structure meet the strength requirements in the limit pose.In this paper,a small scale robot with simple structure,cheap price and easy operation has been designed through the research of robot.