Research On Knowledge Based Intelligent Design Method For Transfer Robot Body

The body is an important part of a robot system,and the rational body design is the important factors affecting the kinematics,dynamics and strength performance of the robot system.In order to investigate the problems of low knowledge reuse in the design process,the high dependence of the design process on designers' experience and the long product design cycle,the knowledge based intelligent design method is researched for the 4-DOF(Four Degree of Freedom)serial transfer robot based on the knowledge engineering theory and the 3D(three Dimension)parametric design technology.Using the bionic theory of three moving links,force transfer performance analysis theory and the D-H(Denavit-Hartenberg)parametric modeling theory of robot kinematics,the kinematics dimension calculation model,parametric design and kinematics analysis method of 4-DOF serial transfer robot are given.The engineering example and the kinematics analysis indicate that the results of kinematic design method proposed fulfill the kinematic performance required.On the basis of the function analysis of the transfer robot body,the modular design model is established,and the general design process is given.Based on the knowledge engineering theory and the 3D parametric design technology,the general model of knowledge template and the hierarchical knowledge template system of the body design for the transfer robot are given by using the object-oriented method.The specific knowledge template models for robot arm joint and wrist are also presented.By using SolidWorks VBA(Visual Basic for Application)macro development tools for the 3D parametric modeling,the 3D parametric dimension driven model for the modules for the transfer robot body are established,and the automatic assembly model of the body of the transfer robot is established by using the bottom-up assembly design method.According to the functional requirements of the intelligent design of the transfer robot body,the framework of the intelligent design system of the transfer robot body is constructed,which consists of interactive interface,application design module,reasoning machine module,knowledge base and management module,and 3D parametric design module.Taking Visual C++6.0 software and the SolidWorks 3D modeling software as the development platform,a knowledge-based intelligent design prototype system for the transfer robot body is developed.The use case of the prototype system indicate that the system realize the intelligent reasoning,parametric design of the robot mechanism,the 3D parametric modeling for the body assembly.The knowledge template model and the intelligent design prototype research indicate that design knowledge template can effectively integrate the design rules,parameter design procedural,and automatic 3D modeling knowledge,design process based on knowledge template technology can facilitate the modelling and the reuse of the dispersed and unstructured multiple design information,the improvement of the product design quality and the design efficiency.The research results provide the beneficial basis for more complicated product intelligent design.