Design Of Integrated Robot Joints And Research On The Collaborative Robot

Traditional industry robots can only perform simple and repetitive tasks in the structured environment.However,it is nearly impossible for traditional industry robots to finish the complicated work which needs high intelligence and dexterity.With the concept ‘Industry 4.0' put forward,intelligent and flexible manufacturing must be the trend of manufacturing industry.However,the existing artificial intelligence isn't mature enough and the dexterity of the robot can't compare with human hand.Man-machine cooperation is an effective way to solve the contradiction.The paper designs and realizes the prototype of collaborative robot with integrated joints.The collaborative robot makes it possible for human and robots work together in the shared space.Firstly,the paper analyzes the characteristics of different robots from different countries.Then,according to the market requirements for collaborative robots,determine the design specifications and put forward design scheme of integrated joints.On this basis,the paper utilizes SolidWorks to model the robot.In order to determine the final design scheme,the paper also checks the key components election by calculation.The paper also utilizes MATLAB Robotics Toolbox to do kinematics simulation of the robot.Through the simulation,the advantages and disadvantages of basic trajectory planning methods can be seen.The paper also does joint simulation of MATLAB/Simulink and ADAMS,which realizes PD position control and direct teaching based on force-free control.These simulations provide a theoretical basis for the physical prototype manufacturing.On the basis of the collaborative robot,the paper does some basic performance tests of each joint.The tests include trajectory tracking precision,repeat positioning accuracy,gear backlash and so on.The experimental results show that the collaborative robot can meet the design specifications and be used for further research.