Industrial Robot Mechanical Design: Difference between revisions

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=Toolchain for Toolpaths=
#REDIRECT [[Industrial Robot/Research Development]]
 
CAD (FreeCAD) > export (stl, dxf, svg) > CAM (PyCAM) > export (gcode) > Machine Controller (EMC2) > export (logic signals) > Machine (CNC milling, various) > export (work)
 
In FreeCAD, a 3d mesh drawing can be exported as an stl file; alternatively, a 2d drawing can be exported as a dxf or svg file. Any of these files can then be imported in PyCAM, in which toolpaths can be generated for those drawings. These toolpaths can then be exported from PyCAM as a gcode file. EMC2 can then import the gcode file and simulate the toolpath, plus send logic signals to an external electronic controller that moves a machine to correspond to the toolpath. This toolchain allows digital fabrication to be utilized for the construction of the industrial robot.
 
=Force Analysis=
 
*Format
 
Force is expressed in newtons (N)
 
Maximum absolute displacement is expressed in millimeters (mm)
 
Dimensions are expressed in inches (“)
 
 
*A36 Steel Specifications
 
Poisson Ratio = 0.285
 
Young's Modulus = 200GPa
 
 
*Some results strange - retesting to be done, remainder of force analysis to be posted, new analysis for different robot components to be completed
 
 
*36” length by 6” height by 1” width A36 steel bar
 
**[Vertical Force + Vertical Gravity] [Wall and force at opposite ends of length]
 
500N >  39 mm
 
1000N > 39 mm
 
1500N > 39 mm
 
2000N > 40 mm
 
2500N > 40 mm
 
**[Horizontal Force + Horizontal Gravity] [Wall and force at opposite ends of length]
 
500N >  330 mm
 
1000N > 330 mm
 
1500N > 330 mm
 
2000N > 330 mm
 
2500N > 330 mm
 
 
*18” length by 6” height by 1” width A36 steel bar
 
**[Vertical Force + Gravity] [Wall and force at opposite ends of length]
 
500N > 1.9 mm
 
1000N > 1.9 mm
 
1500N > 2 mm
 
2000N > 2 mm
 
2500N > 2 mm
 
**[Horizontal Force + Horizontal Gravity] [Wall and force at opposite ends of length]
 
500N > 16 mm
 
1000N > 17 mm
 
1500N > 17 mm
 
2000N > 17 mm
 
2500N > 17 mm
 
 
*8” width A and B by 8” length by 1” thickness A36 steel angle
 
**[Vertical Force (Load face faces downward) + Vertical Gravity] [Wall and force at opposite outward larger faces]
 
500N >  0.92mm
 
1000N > 0.92 mm
 
1500N > 0.1 mm
 
2000N > 0.11 mm
 
2500N > 0.12 mm
 
**[Horizontal Force (Load face faces horizontally) + Horizontal Gravity] [Wall and force at opposite outward larger faces]
 
500N > 0.097 mm
 
1000N > 0.11 mm
 
1500N > 0.12 mm
 
2000N > 0.13 mm
 
2500N > 0.14 mm
 
 
=Design Resources=
 
[https://cours.etsmtl.ca/gpa774/Cours/old-24-03-04/Documentations/Fanuc/81015en01.boo/toc.htm FANUC Maintenance Manual]
 
[[Category: Industrial Robot]]

Latest revision as of 11:40, 28 January 2012

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