Concept Design Of Ceramic Tile Robot

As the rapid development of China's construction of interior decoration industry and high-end intelligent manufacturing equipment industry,the demand for building robots also become more intense.This paper designed a kind of ceramic tile robot,six degrees of freedom for the ontology structure and kinematics and Kinematics and dynamics and finite element analysis.Content mainly includes the following several parts:(1)After studying the similar building robots at home and abroad on the basis of the design chose the structure of the robot,this research used a simple and effective method in engineering to choose the configuration of the robot.Offset structure is used to the big arm,effectively expand the robot workspace.Through the analysis of statics analysis combined with SolidWorks software measurement function,analysis of the drive.Further introduces the form of the robot's driving scheme including the layout of the motor.Based on the work of the robot need to design the structure of robot end actuators,pneumatic principle are introduced,And the structure design of the base is also described in detail.(2)Detailed discussion of the mathematical basis of robot kinematics,and gives the robot kinematics equation formula.Using D-H method to establish a link of the robot coordinate system,On this basis,derived forward and inverse kinematics solution.Use Robotics Toolbox and Matlab programming of the robot kinematics simulation visualization positive solution of the equation derived inverse correctness.Each robot directly reflects the relationship between the end of the joint variables pose matrix.The simulation can clearly see the robot workspace determine whether there are voids and cavities,provide the basis for the scope of work to get the correct robot.(3)The calculation method to carry out the dynamics by Lagrange on the mechanical arm calculation formula is obtained,then the curve theory,kinematic and dynamic parameters of the mechanical arm of the six joint analysis by SolidWorks motion dynamics.And through the simulation software to simulate the actual assembly work of the manipulator,so as to determine whether the structure interference and inconvenient installation situation,and demonstrate the working process of the manipulator simulation.(4)By using the finite element analysis in statics analysis of two limit position of the mechanical arm,and then analyzes the mechanical arm of the motor cover and mechanical arm joint internal coupling,to determine whether there is at work in the process of mechanical arm part stress degeneration affects the transmission performance of the.The finite element analysis of the base and the reasonable change of the structure of the base were carried out.