The waist structural design of articulated robot
Abstract : In order to improve the efficiency of production and welding quality of
products and meet real work's needs, this subject has designed the articulated robot
used for welding . According to the job requirements for the robot and structure
characteristic , I have carried on the overall design of the robot, confirmed the
external dimension and workspace of the robot, drafted the overall transmission
scheme of every joint of the robot. I have designed the waist structure of the robot
in detail, assigned the electrical machinery and gear wheel rationally, confirmed at all
level transmission parameters , carried on the design and calculating of gear wheels ,
shafts and bearings and checking them.The kinematic model of robot system has been
built up by means of the homogenous transformation of matrix in this thesis and
deduces the robot's homogenous coordinate which is relative to its reference
coordinate. We also make up the position relationship between the robot's end effector
and the variable friable of every joint. The inverse kinematic model is deduced which
based on the projection principle of geometry and the value of angle is worked out.
What’s more, the relationship is built up between the joint space of robot and the
world space. This robot has the characteristics of fine rigidity , position precision
high , that operate steadily.
Key words: Articulated robot; Appearance analysis in the location; Design
overallly; Waist articulated structural design of the robot
