The Study And Design Of Arm Robot For Hull Shaped Plate Forming By Line Heating

Steel Plate Forming by Line Cooling and Heating (SPFCH) is a critical technology to shipbuilding industry. It is a hard and contains many complicated factors. At present, the technology still is applied by hand rather than by machine. The automatization of the technology means a lot to shipbuilding industry because it can improve the steel plate forming quality, accelerate the producing speed and reduce the cost.Owing to the hard-pressed condition that the national shipbuilding industry faced currently, and for getting away from the bad situation of the SPECH decided by the workers' experience, also for a good foundation for the SPFCH robot product, DUT SPFCH laboratory had already decided to research an arm robot for the SPFCH based on the gantry robot for the SPFCH. This kind of robot can not only raise the efficiency of process a kind of plate with big curvature and small area consumedly, but also can raise the accuracy of it, so it can improve the automatization of the technology.In this thesis, I will design the machine of the arm robot for the SPFCH according to the gantry robot for the SPFCH's structure and principle, and also do some analysis of the kinetics and dynamics of it, and design for choosing the type of the servo mechanism.In this text, I will use the three-dimensional sculpt software called solidworks to set up mold and the soft called ADAMS which can create the dynamics model for complicated machine system do some analysis of the kinetics and dynamics. I did some imitate for six different freedoms and made the appropriate analysis.Owing to the good of virtual machine technique to many advantages of the complicated machine product development, in consideration of that it can be used in whole process, so I use ADAMS as a valid means to imitate to design. It basically can get away from the dependence to the physics kind machine, attain to shorten the robot design development period, lower the design cost and raise to design the quantity and carry out the modern makes of robot.