Study On The Synthesis Of Lightweight Robot Mechanism Parameters

With the development of science and technology,robots are used more and more widely.At present,most of the industrial robots are rigid robots,which are mainly used in heavy load situations.And lightweight robots are mainly used in precision assembly,medical and other industries.But the end of lightweight robots is easily deformed under the external force,which results in the decrease of the operation precision.In this paper,the stiffness model is established,and the influence of arm parameters on the end deformation of robots is analyzed,based on the analysis of a 6-DOF lightweight robot.And the design and analysis platform of the robot is established.1.The connecting rod coordinate system of the 6-DOF series robot is established by D-H method,and the kinematics equation is deduced.The positive and inverse solutions are proved and verified.The Jacobian matrix of the robot is obtained by vector product method.The operating space of the robot is obtained by Monte Carlo method;2.The joint stiffness model and the arm stiffness model of the 6-DOF series robot are established.Considering the influence of robot joint stiffness and arm stiffness on the end deformation of the robot,the corresponding deformation is obtained.And The end total deformation of the robot is obtained according to the linear superposition principle.The correctness of the arm stiffness model is verified;3.According to the practical work requirements of the ISR robot in an enterprise,the structural parameters of the robot are analyzed and designed.According to the structural characteristics of the ISR robot,the robot static stiffness analysis model is simplified.The relation between robot deformation and robot arm parameters which includes rod diameter,rod length and wall thickness is established.The influence of the arm parameters change of the big arm,small arm and wrist on the end deformation of the robot is analyzed which provides the design idea for the optimization design of the robot;4.According to the design features of the ISR robot,the design and analysis platform of the robot is constructed.The platform is divided into trajectory analysis module,motion space analysis module,deformation analysis module and parameter analysis module.The platform can be visualized by the matlab in order that the analysis process can be presented simply and intuitively.