The structure research of industrial welding robot and computer virtual reality modeling
Abstract
The 6-DOF robot designed in this article is one of the school-enterprise cooperation projects of Beijing University of Technology and Jet Kingdom Machinery Technology Co., LTD. This research is made for raise the standard of the industrial welding robots in China. When the research finished perfectly, we can make a big progress and smash up a monopoly of foreign-related enterprises in the region of high precision industrial welding robot.
And reasonable access to a wide range of industrial welding robots learn from the literature data on the basis of its technological achievements, the robot was designed according to requirements of the subject programs and the overall composition of the concrete structure. Compared with some other plans, the 6-DOF articulated robot with all rotary joints driven by AC servo motors finally rose. In order to obtain the excellent kinematics and dynamics characteristic, the joints actuating mechanism includes planet gear speed reducer, worm couple and wheel train. The design improved the reliability and the space utilization, saved weight, and met the requirements.
To meet the needs of control systems, we studied the kinematics, built the coordinate system table with D-H, the forward and inverse kinematics matrix, and got the solution. In addition, we also used graphical approach to analyze the robot's movement space, and got the actual working space of robot axis profile map.
Finally, we simulated the assembly of the industrial welding robot and the scenario work with Pro-E, and analyzed the simulation systematically. The work in this paper should be basis of the 6 DOF welding robot product design, and can be some reference in relate areas.
Keywords: 6 DOF industrial welding robot; structural study design; kinematics analysis; work space analysis; Pro / E ; assembly simulation
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