Structural Design of Large Heavy-load Stone Cutting Robot

• Published in: Journal of physics. Conference series Vol. 1626; no. 1; pp. 12137 - 12142
• Main Authors: Wang, Chenglin, Li, Chunjiang, Zhao, Lijun, Wang, Shengxue
• Format: Journal Article
• Language: English
• Published: Bristol IOP Publishing 01.10.2020
• Subjects: Cutting equipment; Cutting robot; Heavy load; Kinematics; Machine tools; Physics; Robot arms; Robots; Static analysis; Stone; Structural design
• ISSN: 1742-6588; 1742-6596
• DOI: 10.1088/1742-6596/1626/1/012137

Large quantities of stone cutting are generally done using robots. The current stone cutting robot drives the cutting machine to move and complete the cutting through the manipulator, but its moving range is limited. In response to this problem, a large heavy-duty stone cutting robot was designed in this subject. According to the design requirements and the functions to be realized by the equipment, the detailed structural design of each component of the stone cutting robot was carried out, and the static analysis of the robot arm and arm was carried out using ANSYS to ensure the safe operation of the equipment. The D-H parameter method was used to establish the kinematics model of the stone cutting robot, the positive kinematics equation was obtained by using the homogeneous transformation matrix, and the inverse solution of the kinematics equation was combined with the algebraic method. The proposed design was reasonable through experiments.