Design and Simulation of Mobile Multi-Robot Machining Platform

Abstract

Today, with the rapid development of science and technology, there are a lot of repetitive labor in people's production and life, and there are many risks when they explore unknown places. To a large extent, the emergence of mobile robots can solve these problems and replace human beings to complete boring tasks and reduce risks. The mobile robot combines the robot with the omnidirectional mobile platform, which greatly increases the activity range of the robot, but the ability of the mobile single robot is difficult to meet the heavy processing tasks and various processes, and the advantages of multi-robot technology are increasingly apparent. Compared with a single robot, it has the advantages of wider task field, strong fault tolerance, strong robustness, low economic cost and flexible distribution. In this paper, a mobile multi-robot machining platform is designed based on a 6-DOF mobile robot. The mobile robot is composed of an AGV car, a 6-UCU parallel robot and an electric spindle. The three-dimensional model of the mobile multi-robot machining platform established is composed of two isomeric robots, which are symmetrically distributed on the machining platform to lay the foundation for direct coupling. Then the force is added to the mobile multi-robot machining platform in Adams, and the dynamic simulation is carried out to observe the force of each electric cylinder during movement. The modal analysis of the mobile robot was carried out by using ANSYS Workbench software to obtain modal parameters such as natural frequency to verify the rationality of the designed mobile robot.to truly detect the safety hazards. In order to solve these problems, ANSYS (finite element analysis software) is used to analyze the theoretical stress of the 3D structure model, and the theoretical dangerous stress position of the structure is solved. Provide strong data support for the design and development of wind power crane industry in the later stage.