The Error And Kinematic Model Analysis Of A Wiring Network Robot

With the rapid development of the internet technology, fiber optics has been widely used in the communication field. As like the traditional wiring progress, the fiber has the same problem in taking a lot of labor and time to manage it. Usually it’s a hard work to separate the cable which may intertwine with each other. This is not good for the management and reusing. So it is an urgent requirement to have a new、 fast-acting and no-winding automated equipment for the market need. At present, there are some wiring network robots in this field overseas, and it’s still a blank in China. Our group comes up with a new kind of circling wiring network robot to fill that blank. The article is some research work which is based on the new wiring robot.At first, the model machine is designed as the mathematical model. And the wire spooler which is one of the most important parts in cable management in the wiring robot can influence the accuracy of the robot hands. So a new kind of wire spooler is put forward and has been improved by the new circumferential wiring method, by which the costs has been reduced greatly and working is good.Then, the errors why the robot can’t run accurately have been analysis. The influencing factors are the tooth side clearance、the torque deformation and the circle run-out of the large gear ring. The analysis equations have been presented to analyze the factors’influence results. In this part some detailed data analysis and the error compensation theory support has been provided to the robot’control system.At last, the Kinematics of the robot has been analyzed detailedly. The motion of the robot has been divided into two parts on account of the robot’s movement. One is the gear transmission model and the other is robot hand movement. The gear transmission is analyzed by the dynamics theory of rigid body. The equation of the kinetic energy is built to know the load torque changes with the driving motion. The SolidWorks/Motion gives the relation curve between the input and output. The Newtonian mechanics equation has been used to analyze the movement of the robot hand. The law of the hand’s motion helps have a better control to the robot hand.With this three parts’analysis in detail about the error and kinematic model the wiring robot will have a better control. These equations have provided the base theory for the automatic control. And the errors have been reduced by these methods proposed. The model of motion has been advised and this is good for our next work.