Research On The Autonomous Design Method Of Industrial Robot Mechanical Noumenon

Industrial robot has become a automation tool of the flexible manufacturing system,flexible manufacturing system, computer integrated manufacturing system.It hasbecome an important indicator of measuring a country’s level of industrial technologydevelopment. Improve the technical level of industrial robot design, has a great meaningfor promoting the production development of China.This paper is based on the National Science and Technology Major Projects which isundertaken by Yanshan University research group “the large servo presse stamping lineautomated loading and unloading technology”. Adopting the modular thought, theautonomous design technology of industrial robot mechanical noumenon is studied basedon computer rational. The specific topics of this thesis are as follows:By analyzing the commonly used configuration and the operative mode of theindustrial robot, the article adopted the module partition method which was based onfunction analysis, the structure module library of the industrial robot was established byusing the CAD software, which was used to build the specific robot model so as to meetthe need of any project.The secondary development technology of CAD software was used to manage thestructure module library, a man-machine interface was designed which was used tomanage the structure module library by using the Visual Basic6.0. The basic managementfunction of the structure module was realized, such as preview, selection, invocation andreplacement. Automatic assembly function and parametric design of the structuremodule was also realized.The initial position and posture of unit structure module was set, theconnecting rod coordinate system module library was established by using the D-Hmethod, The selecting principle of coordinate system module was made. When the robotmodel was finished, the corresponding connecting rod coordinate system was going to beestablished in the same time. Then confirmed the D-H parameters, for solving thekinematic problem. The formation of the workspace boundary curve was studied, The types of workspacewere divided based on the geometric feature. CAD variable geometric method was putforward to solve the workspace, the computerized solving process was realized, and theanalysis function of CAD software was used to solve the geometrical properties ofworkspace.