Development Of A Four-degree-of-freedom Bolt Tightening Robot

Screw connection is the most common connection form.The quality of screw connection directly affects the safety and performance of the whole machine.At present,most of the production and manufacturing enterprises in China use manual or electric tightening tools to tighten the bolts,and those with high requirements also need torque wrench for recheck,resulting in problems such as high labor intensity,low production efficiency,and large difference in tightening force.Therefore,a four degree of freedom bolt tightening robot is developed.The main research,contents include:(1)The general scheme of the four DOF bolt tightening robot is established.The robot control system controls the robot to move to the target position after obtaining the bolt position information,and realizes the automatic tightening of the target bolt by selecting the corresponding bolt tightening strategy.(2)The kinematics model of the robot is established,the forward and inverse solutions of the robot are obtained,the workspace and singular points of the robot are determined,and the kinematics of the robot is simulated and analyzed based on MATLAB.Finally,the trajectory planning and dynamics analysis of the robot are carried out.(3)Based on SolidWorks software,a three-dimensional digital model of the robot is established.The key parts of the robot are statically analyzed w:ith ANSYS software,and the selection of various functional parts of the robot is described in detail.Finally,the prototype of the robot is developed.(4)Based on PC+PMAC,the robot control system is developed,the robot hardware control system is built,the robot software control system is developed,and the bolt tightening experiment is carried out to verify the effectiveness of the robot.