The development of a new 6 DOF collaborative robot

摘要

This article aims to research the 6 degrees of freedom(DOF) collaborative robot based on the DC servo motor. This robot adopts the hollow torque brushless motor, hollow harmonic driver, hollow shaft, hollow encoder and so on. This design can realize the hollow line and make the robot more light and artistic. The robot joint adopts dual encoder. This can enhance the control accuracy of the robot. Monte-Carlo method was used to calculate the envelope of the robot end effector. The result showed that the executable operating areas cover all the space where the robot can reach to. The dynamic functions of six joints were got through Lagrangian. The current calculated by the dynamic simulation can be used to compare with the actual test current. This can be used to monitor whether the robot is colliding with the outside world. Finally, the angular velocity curve, dynamic energy curve and force and moment curve of each joint of the robot are obtained through ADAMS dynamic simulation. The rationality of motor and reducer in the research and design of the robot is verified by simulation experiment.