Design And Exploration Of Reconfigurable Punching Robot Based On Stamping Production Line

With the development of industrial robots in recent years,the use of stamping robots can reduce labor costs,improve work metrics and production efficiency compared to manual work for loading and unloading and handling.At present,stamping robots have become a key part of stamping production and more scholars do some researches about it.However,most of stamping robots used currently are tailored to the special working environment,and cannot change structure.When the production mode changes greatly,the existing robots may need to be replaced,resulting in the increase of production costs.With the continuous development of individualization and industry competition,the production methods of multiple types and small batches are more favored by enterprises.In the view of this situation,a reconfigurable stamping robot is designed which can be widely used in small and medium-sized stamping automation production lines.And it can be reorganized into different configurations and degrees of freedom according to the company's requirements,which is beneficial to the diversified needs of enterprises and can be modified and upgraded early.The main research work is as follows:Firstly,according to the analysis of robots commonly used in small and medium-sized stamping production lines,and then,the reconfigurable stamping robots are modularly designed based on the principles and methods of the modular design.And the robot can be divided into four modules including rotating mechanism,propulsion mechanism,auxiliary mechanism and actuator,each module has its own interface connected to other modules.Changing the size of the module can get a series of modules.The same series of modules can be connected to each other and a robot with different configurations and degrees of freedom.The configuration space of the robot are discussed when considering the 4-DOF stamping robot.Secondly,the kinematics of robot is analyzed in this thesis.According to the product-of-exponential formula,the transformation matrix is established for each module.The forward kinematics formula of the robot can be obtained simply by multiplying the transformation matrix according to the order of module assembly.Taking a 4-DOF stamping robot as an example,the forward kinematics formula is verified by D-H method.Then,the iterative formula of inverse kinematics was detucted by numerical method.Creo was used to simulate the motion and output motion trajectory,and the inverse kinematics formula was verified.Thirdly,the accuracy of this 4-DOF reconfigurable stamping robot is studied.At first,the influence of static factors on the pose error of the robot actuator are studied and the static posture error model of the robot actuator is established.Through which the influence of various static factors on the posture error of the actuator is analyzed.And then,the dynamic posture errors caused by the flexible actuator deformation of the robot is studied,the dynamic pose error model of the robot actuator is established.The influence of static and dynamic factors on the posture errors of the actuator is finally studied and the comprehensive pose error model of the robot actuator is established.Finally,the perturbation compensation method is used to compensate for the integrated position error of the robot's actuator.According to the characteristics of the loading and unloading operations of the robot,a flexible rotary joint was designed.When the actuator is affected by contact force and contact torque,the joint can produce a small rotation.This rotation allows the actuator to automatically complete attitude compensation when it is unloaded.