Mechanical CAD And Analysis For Discharging Manipulator

This paper reviewed recent research and application of manipulator technology,for the motor production requirements, production line of the original production line are analyzed and studied, points out the existing problems and puts forward some feasible improvement plan, based on the analysis of the manipulator system, puts forward the design plan of the structure of the manipulator, and designed mechanical parts,and the modelling by CATIA software, at the same time, in order to gain the powerful, compact structure, cabinet and delicate, the optimum design have been used on the mechanical structure ,got the results of Statics analysis of the deformation map and Mises stress cloud , found stress concentration, and adjust its structure, reached the purpose of optimization design.On the basis of three-dimensional modelling of manipulator, in order to control manipulator's position and posture, need to analysis and research manipulator's kinematics. The robot kinematics was to establish the relationship between the various components and actuators space position, posture. Therefore, in order to get the expression of the manipulator in any expectation pose, used robot kinematics equations D-H representation for manipulator all joints, got the manipulator total transformation matrix. Based on the manipulator total transformation matrix ,established the inverse mathematics model , obtained the mathematical expression of each joint variables. Given that the requirements of the manipulator end position and posture, obtained the motion parameters of each joint mathematical expressions.For the control of the manipulator, the paper adopts PLC control technology is to control the movement of the whole system, for the convenience of the commissioning and maintenance, handle some emergency, by combining the manual and automatic operation mode, wrote the manual and automatic control ladder-diagram program, realized the automatic and manual, single step, circulation control requirements. It had been improved the production efficiency and achieved a high control precision because of automatic operation. The position of manipulator is mainly use limit switches to detect, and the workpiece position use the photoelectric switch to detect.