Design And Simulation Analysis Of Four-axis Servo And Cartesian-coordinate Manipulator

With the development of the industry and technology,automation are required in various fields strongly and deeply.It leads to the rapid development of Robot technology and brings a variety of robots in industry.The application of robot products does not only solve many practical problems that can't be solved by humans alone,but also promote the process of industrial automation.With the deepening of modernization,the application of industrial robot has expanded gradually from the automobile manufacturing industry firstly to other areas and has become an integral part of modern production.For example,in the injection products industry,more and more enterprises adopt industrial robots to replace the artificial to complete the work.The structure and function of industrial robot corresponding the injection molding machine is becoming much better.But this kind of robot is mainly aimed at the horizontal injection molding machine.Due to their own respective limits some small factories have to us vertical injection molding machine in the production instead of the general Glue-injection machine manipulator.They also want their factories could do the production by auto-machine.Six axes manipulator could solve this problem but lots of enterprises would not think about it because of its high expense.So based on the actual situation,to design a special manipulator has its important significance.This research is to design a special manipulator aimed at the problems including the bad production environment,low efficiency and quality not guaranteed during the mold production process in some companies in Liuzhou.Under the requirements of technical indicators and based on the experience of company,this research raises a new structure scheme that uses a software named Solid Works to design and complete a four axes servo rectangular coordinate manipulator.In this paper,we build the suggested stiffness test platform based on the theory of calculation to the stiffness,and then test it.Using the solution of finite element simulation,carries out static analysis to add load on the tip of cantilever.Through the experiment and simulation results,verify the accuracy of the simulation process.And dynamics analysis is made for a manipulator to get its low-level natural frequency and the first six modal vibration mode diagrams.The results show that the first six natural frequency was lower than the motor's.So the stability of the system is improved by optimizing.The kinematics analysis is made for the manipulator with MSC.ADAMS.We can get the displacement-velocity curve and through kinematics analysis.Through the comparison of test results with the experiment,the simulation can reflect the actual path and speed.It can a theoretical and technical reference for trial production of the manipulator provides.