Research And Design Of The Robot Using For Three-Dimensional Carving Of Stone Products

In recent years, the application of stone carving products have got more and more widely in people's daily lives.The stone carving products with larger number and excessive variety belongs to shaped Stone products in a category the variety, but the skill requirements and the difficulty of processing is much higher than other types of stone products, the carving processing of the stone carving products has become important means which could improve products value added and expand domestic and foreign trade. The engraving process development of mechanization, automation, intelligent and the rapid reproduction, transmission of the traditional art has become the important work of the stone industry. At present, the stone industry need automation, intelligent processing technology and equipment of stone crafts so urgent to meet the needs of the rapidly growing industry.The subject plans the functional requirements, functional modules, structure and processing characteristics of three-dimensional stone carving products reasonably, determined the overall design program of the robot system based on the status of domestic stone industry after the digestion and absorption of technology on the basis of key components, learning from the advanced industrial robotics; Complete the design calculation and the key components selection of the column structure, rotary table structure and the wrist structure of the robot system, according to the characteristics of the load generated in stone carving products processing; Determine the coordinates of the joints and the connecting rod homogeneous coordinate transformation matrix by D-H Parameter method, established the kinematics mathematical model of the stone carving robot system; Completed the three-dimensional modeling of the stone carving robot system by solidworks software, the kinematics, dynamics simulation analysis was carried out using ADAMS/View software, giving the displacement, velocity and acceleration curves of the End effector and each joint at the typical motion state, which provides the basis for the optimiziation design and the motion control; The static and dynamic characteristics of the column structure with the most complex force and largest size were calculated using ANSYS software, understanding the stress, strain distribution and its dynamic characteristics, providing the reference for the modifization and optimization of the features, which laid the foundation to ensure the process precision and the use performance of the robotic systems.The stone carving robot that the project studied is an advanced equipment suitable for China through inheritance and Innovation, which would fill the gaps in the carving robot system of three-dimensional Stone crafts, Change the structure and current status of of the stone production industry. Its application will effectively expand quality and level of the stone carving products and equipment, The market and industry development have good prospects.The subject is supported by Natural Science Foundation of Shandong Province (Project Number:2009ZRB019JI).