Dynamic modeling and simulation of sand core handling robot

Xingchen Li; Guoqin Yang; Xian Wang; Zanhui Shu; Wenhong Hu

doi:10.1117/12.2612011

19 November 2021 Dynamic modeling and simulation of sand core handling robot

Xingchen Li, Guoqin Yang, Xian Wang, Zanhui Shu, Wenhong Hu

Proceedings Volume 12059, Tenth International Symposium on Precision Mechanical Measurements; 120590X (2021) https://doi.org/10.1117/12.2612011
Event: Tenth International Symposium on Precision Mechanical Measurements, 2021, Qingdao, China

Abstract

The production process of robot castings mainly includes processes such as robot core taking, core assembly, core setting, dipping, pouring, sand casting, polishing, and cleaning. The handling process involves every process of the casting production line and is one of the key processes of the casting production line. For the 6-axis robot used for handling, the kinematics model of the robot is carried out according to the improved DH parameter method, and the dynamic model of the robot is established by using Newton-Euler equation and Lagrangian equation respectively. Secondly, according to the requirements of casting handling technology, the motion trajectory is planned according to the established kinematics model and dynamics model, and the dynamic simulation is carried out with MATLAB. The joint torques of the robot dynamic models established by the two methods are very close, which verifies the correctness of the dynamic model.

Citation Download Citation

Xingchen Li, Guoqin Yang, Xian Wang, Zanhui Shu, and Wenhong Hu "Dynamic modeling and simulation of sand core handling robot", Proc. SPIE 12059, Tenth International Symposium on Precision Mechanical Measurements, 120590X (19 November 2021); https://doi.org/10.1117/12.2612011

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