Design Study of 6-DOF Grinding Robot

被引：0
|
作者：
Ge, Weimin [1 ]
Li, Liang [1 ]
Xing, Enhong [1 ]
Lei, Ming [2 ]
Yang, Shuying [2 ]
Zielinska, Teresa [3 ]
机构：
[1] Tianjin Univ Technol, Tianjin Key Lab Adv Mechatron Syst Design & Intel, Tianjin 300384, Peoples R China
[2] Tianjin Univ Technol, Sch Comp Sci & Engn, Tianjin 300384, Peoples R China
[3] Warsaw Univ Technol, Inst Aeronaut & Appl Mech, PL-00665 Warsaw, Poland
来源：
2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA) | 2019年
关键词：
Mechanical Structure; Kinematics; Dynamics; Strength Analysis;
D O I：
10.1109/icma.2019.8816350
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Following the need for improvement of efficiency and quality of grinding operation, the design of dedicated six degree of freedom (6-DOF) robot is proposed.The mechanical structure of the 6-DOF grinding robot is derived considering the properties of grinded objects and the grinding head.The MDA350 grinding head produced by Mannesmann-Demag is considered as the tool. The direct and inverse kinematic problem is solved using Denavit-Hartenberg method.Next,the robot dynamics using the simulation method is investigated.Considering the actual working load, the strength of the relevant links is analyzed using ANSYS software.
引用
收藏
页码：285 / 290
页数：6
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