مفهوم جدید برای طراحی و کنترل ربات 4 محور با استفاده از فن آوری افزودنی ساخت

This work introduces a new concept for designing and manufacturing an industrial robot by using modern production techniques and a 3D modelling software. The most important requirements of this project were to build a customized, lightweight and low cost robot, capable to fulfil many industrial working tasks such as palletizing mobile telephone covers. For designing and optimizing the mechanical structure of the palletizing robot a SolidWorks- software was used. Integrating motion simulation tools in SolidWorks intensely reduces the engineering time for finding the optimal mechanical structure of the robot according to the industrial task. The robot parts are produced by using the additive manufacturing technology- powder material PA 2200. For solving the forward and inverse kinematics of the robot, the Software tool SimMechanics from MathWorks was used. This environment provided by the software enables building a human machine interface in order to store and program the robot targets. This project additionally shows the new benefited experience about mechanical structure of robots using the powder material PA 2200. Furthermore the advantages and disadvantages of this concept will be comprehensively explained.