Method of designing robotic complexes with relative manipulation modules

Abstract

The paper offers a method for designing robotic complexes with six degrees of freedom for processing complex parts containing a base and a module for installing tools and a module for processing parts placed on it, made in the form of parallel structure mechanisms, using CAD/CAM/CAE of the NX system under the control of the Teamcenter PLM system. Based on the terms of reference and draft documentation, a preliminary composition of the complex for components of the upper level of the assembly was developed. The stages of designing an electronic-digital model of a robotic complex are presented. A fully parameterized control structure was developed, which is the basis for building robotic complexes of various classes. The use of this approach allows the designer to reduce the complexity of designing similar complexes and simplify the process of making changes, as all changes are made to one part of the product, which has many versions. The application of the developed design methodology for various versions of robotic systems is shown. An algorithm for strength calculation of the assembly is presented. It is shown that the most effective result can be achieved only by using a combined design and calculation methodology.