The Structure Design And Simulation Of A Six-degree-of-freedom Manipulator With Dual Motor Drive Joints

Industrial robot has become an integral part of the core equipment in the manufacturing,six degrees of freedom mechanical arm has good versatility and flexibility,widely used in modern industrial production.With the progress of production and processing technology,the demand for precision of industrial robot is higher and higher,and the transmission gap is an important factor that restricts the performance of high-precision sports system.Therefore,the design of a mechanical arm with a gap structure has important theoretical value and engineering application value.Double motor driven backlash has proven to be a reliable way to eliminate transmission clearance,in this paper,the application of the principle of double motor driven backlash to the design of six degrees of freedom mechanical arm,have designed a kind of double motor drive the joints of six degrees of freedom mechanical arm,the main content of the thesis are as follows:(1)This paper introduces the research status of industrial robot arm and the principle and method of double motor clearance.(2)The mechanical arm according to the design requirements,will be double motor drive anti-backlash principle is applied to the design of each joint,completed the 3 d modeling of six degrees of freedom mechanical arm,by estimating the maximum torque and power of each joint completed the selection of mechanical arm drive systems.(3)Coordinate system,six degrees of freedom mechanical arm was established by d-h method to establish the mechanical arm end pose matrix,the analytic method to solve the inverse kinematics and mechanical arm is Jacobi matrix,at the same time,through the matlab software,solving the manipulator workspace,of mechanical arm kinematics simulation.(4)The important components of the six-degree-of-freedom manipulator are analyzed in statics,and the stiffness and strength of the key parts are checked.The modal analysis of the two positions of the vertical extension and horizontal stretch of the mechanical arm was analyzed,and the dynamic characteristics of the mechanical arm in different positions and different frequencies were analyzed.(5)To simplify the 3D model after processing the import of ADAMS software,set up the simulation prototype,through Matlab toolbox of ADAMS simulation prototype robot trajectory planning,through the optimization analysis module of ADAMS,solving the peak torque of each joint,the selection of the drive system is optimized.