| The technology of industrial robot has been an important part of the modern industrial technology revolution. Many manufacturing developed countries have included robotics in high-tech development plan. According to learning and summarizing the technology of industrial robot, this thesis used virtual prototyping technology designing a industrial robots which can be used for arc welding, handling, spraying in the computer environment, and named it NXD20industrial robots.First, based on the understanding and research on industrial robots, this thesis used general3-D CAD design software SolidWorks to design all the main parts of the NXD20industrial robot, then assemble them into a complete model of the robot. Choose the way of the ac servo motor with reducer as the drive system of NXD20industrial robot, calculation and selection of motor and reducer should be configured for each joint. Based on the finite element method, the strength of key parts of the robot has been checked.The design of robot mechanical system was finished.The robot connecting rod is established by using D-H method, determined the parameters of connecting rod and knocking down the kinematics equation. Solve the positive solutions and inverse solution of kinematics equations of NXD20industrial robot, and draw3-D diagram and section of the actual operation space. The kinematics, operating space of the robot has been studied.This thesis combined software SolidWorks and software ADAMS effectively, input assembly model of NXD20industrial robot to ADAMS, so the virtual prototype had been established by using COSMOSMotion.Analyses the kinematics solution and inverse solution the open chain6-DOF joint type robot by simulation method in ADAMS. The kinematics simulation of the robot has finished.Finally, this thesis used the Newton-Euler method to establish the dynamics equation of the robot, then compiled a corresponding calculation program in Maple. According to method of Simulink/M function, dynamics model of NXD20industrial robot was finished, simulate the dynamic model under the condition of open-loop and closed-loop, and introduced PD control with gravity compensation. At last we can get the joint variables and curve of the driving torque of each joint in the process of point-to-point movement. The dynamics, dynamics simulation, and motion control of the NXD20industrial robot have been studied.In this thesis, using the technology of virtual prototyping technology in the computer environment to complete the industrial robot system design, analysising the performance of industrial robots, through theoretical calculations and simulation software to complete the design of industrial robots further, finally it reach the desired design target. |
